<?xml version="1.0" encoding="iso-8859-1"?>
<EtherCATInfo Version="1.2" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
  <Vendor>
    <Id>#x000000FB</Id>
    <Name>maxon motor ag</Name>
    <!-- Maxon Icon -->
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  </Vendor>
  <Descriptions>
    <Groups>
      <Group>
        <Type>DriveType</Type>
        <Name>Drives</Name>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Group>
    </Groups>
    <Devices>
      <Device Physics="YY">
        <Type ProductCode="#x65510000" RevisionNo="#x01300000">EPOS4</Type>
        <Name>EPOS4 EtherCAT</Name>
        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
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                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
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                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>ULINT</Name>
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              </DataType>
              <DataType>
                <Name>DINT</Name>
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              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
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                <Name>SINT</Name>
                <BitSize>8</BitSize>
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                <Name>DT1010</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                  <Name>Save all parameters</Name>
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                    <Access>rw</Access>
                  </Flags>
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                  <Name>Highest sub-index supported</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
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                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Vendor-ID</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <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>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              </DataType>
              <DataType>
                <Name>DT10F3</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
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                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
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                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
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              <DataType>
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                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <Type>UDINT</Type>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power-up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
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              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power-up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info>
                      <DefaultValue>1171880</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info>
                      <DefaultValue>3906250</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1999</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Speed for switch search</Name>
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                      <MinValue>1</MinValue>
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                      <DefaultValue>100</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Name>Interpolation time period</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                    <Name>Interpolation time period value</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                  <MinValue>1</MinValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
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                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>#x0</DefaultValue>
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                <Name>Digital outputs</Name>
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                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>#x0</DefaultValue>
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                <Info>
                  <MinValue>-100000</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                  <DefaultValue>10</DefaultValue>
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                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
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                    <Name>Maximum number of modules</Name>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Nbr of detected modules</Name>
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                  <SubItem>
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              <MessageText>None</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            </DiagMessage>
            <DiagMessage>
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              <MessageText>Logic supply voltage too low error</MessageText>
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            <DiagMessage>
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              <MessageText>Hardware defect error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>SSI sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Missing commutation sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Main sensor direction error</MessageText>
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            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>CAN passive mode error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN heartbeat error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN PDO COB-ID collision</MessageText>
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            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x65010001</ModuleIdent>
            <ModuleIdent Default="0">#x65030001</ModuleIdent>
            <ModuleIdent Default="1">#x65080001</ModuleIdent>
            <ModuleIdent Default="0">#x650A0001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01300000">EPOS4</Type>
        <Name>EPOS4 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power-up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <Name>DTF030</Name>
                <BitSize>48</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
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                  </Flags>
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              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
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                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power-up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info>
                      <DefaultValue>1171880</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info>
                      <DefaultValue>3906250</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1999</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#x00B44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>-100000</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61EA</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x65010001</ModuleIdent>
            <ModuleIdent Default="0">#x65030001</ModuleIdent>
            <ModuleIdent Default="1">#x65080001</ModuleIdent>
            <ModuleIdent Default="0">#x650A0001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x61500000" RevisionNo="#x01300000">EPOS4</Type>
        <Name>EPOS4 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power-up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power-up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info>
                      <DefaultValue>1171880</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info>
                      <DefaultValue>3906250</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1999</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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              <Object>
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                <Name>Homing speeds</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Speed for switch search</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                <Name>Additional position actual values</Name>
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                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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              <Object>
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                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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                <Index>#x60FF</Index>
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                  <MinValue>-100000</MinValue>
                  <MaxValue>100000</MaxValue>
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                <Flags>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                  <DefaultValue>10</DefaultValue>
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                <Name>Supported drive modes</Name>
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                    <Name>Index distance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
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              <Object>
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                <Name>Configured module ident list</Name>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
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                  <SubItem>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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              <TextId>#x1000</TextId>
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              <TextId>#x1080</TextId>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            </DiagMessage>
            <DiagMessage>
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              <MessageText>Logic supply voltage too low error</MessageText>
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            <DiagMessage>
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              <MessageText>Hardware defect error</MessageText>
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            <DiagMessage>
              <TextId>#x5281</TextId>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>CAN heartbeat error</MessageText>
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              <MessageText>CAN PDO COB-ID collision</MessageText>
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            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
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            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
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            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
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            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN bus turned off</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>CAN PDO length error</MessageText>
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            <DiagMessage>
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              <MessageText>RPDO timeout</MessageText>
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            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
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            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
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            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
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            <DiagMessage>
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              <MessageText>Following error</MessageText>
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            <DiagMessage>
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              <MessageText>Negative limit switch error</MessageText>
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            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
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            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
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            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
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            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
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            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x65010001</ModuleIdent>
            <ModuleIdent Default="0">#x65030001</ModuleIdent>
            <ModuleIdent Default="1">#x65080001</ModuleIdent>
            <ModuleIdent Default="0">#x650A0001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x60500000" RevisionNo="#x01300000">EPOS4</Type>
        <Name>EPOS4 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power-up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power-up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info>
                      <DefaultValue>1171880</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info>
                      <DefaultValue>3906250</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1999</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
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                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
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                  <MinValue>#x00B50000</MinValue>
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                  <DefaultValue>#x00B50000</DefaultValue>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
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                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#x00B44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
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                      <DefaultValue>-3</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>-100000</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61EA</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x65010001</ModuleIdent>
            <ModuleIdent Default="0">#x65030001</ModuleIdent>
            <ModuleIdent Default="1">#x65080001</ModuleIdent>
            <ModuleIdent Default="0">#x650A0001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01300000">EPOS4</Type>
        <Name>EPOS4 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power-up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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              <DataType>
                <Name>DTF030</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power-up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info>
                      <DefaultValue>1171880</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info>
                      <DefaultValue>3906250</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1999</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#x00B44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>-100000</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61EA</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
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          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
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            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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        <RxPdo Fixed="false" OverwrittenByModule="true">
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          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
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            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
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            <Index>#x6041</Index>
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            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x65010001</ModuleIdent>
            <ModuleIdent Default="0">#x65030001</ModuleIdent>
            <ModuleIdent Default="1">#x65080001</ModuleIdent>
            <ModuleIdent Default="0">#x650A0001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
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      <Device Physics="YY">
        <Type ProductCode="#x65510000" RevisionNo="#x01400000">EPOS4</Type>
        <Name>EPOS4 Module 50/8 EtherCAT</Name>
        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
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              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
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                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000001</ModuleIdent>
            <ModuleIdent Default="0">#x63000001</ModuleIdent>
            <ModuleIdent Default="1">#x68000001</ModuleIdent>
            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01400000">EPOS4</Type>
        <Name>EPOS4 Module 50/15 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <BitSize>208</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitOffs>176</BitOffs>
                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Name>Index distance</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
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              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
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                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
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                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
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                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
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              <Object>
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                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
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              <Object>
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                <Name>Receive PDO 2 mapping</Name>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>5th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000001</ModuleIdent>
            <ModuleIdent Default="0">#x63000001</ModuleIdent>
            <ModuleIdent Default="1">#x68000001</ModuleIdent>
            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x61500000" RevisionNo="#x01400000">EPOS4</Type>
        <Name>EPOS4 Module 50/5 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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            <ModuleIdent Default="0">#x63000001</ModuleIdent>
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            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
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        <Type ProductCode="#x60500000" RevisionNo="#x01400000">EPOS4</Type>
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        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <BitSize>32</BitSize>
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              <DataType>
                <Name>USINT</Name>
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                <Name>INT</Name>
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                  <Elements>2000</Elements>
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                  <Name>Highest sub-index supported</Name>
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                    <Access>ro</Access>
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                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
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                  </Flags>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
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                  <Flags>
                    <Access>ro</Access>
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                  <Type>USINT</Type>
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                  <Flags>
                    <Access>ro</Access>
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                  </Flags>
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                  <Name>Newest message</Name>
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                  <Flags>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
                  </Flags>
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                <SubItem>
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                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
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          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
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            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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            <Index>#x6040</Index>
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            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
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            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
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        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
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        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000001</ModuleIdent>
            <ModuleIdent Default="0">#x63000001</ModuleIdent>
            <ModuleIdent Default="1">#x68000001</ModuleIdent>
            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01400000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>8th mapped object in RxPDO 2</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
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                    <Name>8th mapped object in RxPDO 3</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
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              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
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                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000001</ModuleIdent>
            <ModuleIdent Default="0">#x63000001</ModuleIdent>
            <ModuleIdent Default="1">#x68000001</ModuleIdent>
            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x64500000" RevisionNo="#x01400000">EPOS4</Type>
        <Name>EPOS4 70/15 EtherCAT</Name>
        <Comment>EPOS4 70/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</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>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductivity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>72</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 2</Name>
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                <SubItem>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
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                <BitSize>208</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitOffs>176</BitOffs>
                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Index distance</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
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                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                </Info>
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              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
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                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>5th mapped object in TxPDO 1</Name>
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                    <Name>6th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Internal program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Internal program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Internal program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Internal flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>25000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical regulation tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductivity</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical regulation tuning</Name>
                <Type>DT324B</Type>
                <BitSize>72</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical regulation tuning</Name>
                <Type>DT324C</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B44700</MinValue>
                  <MaxValue>#xFFB44700</MaxValue>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000001</ModuleIdent>
            <ModuleIdent Default="0">#x63000001</ModuleIdent>
            <ModuleIdent Default="1">#x68000001</ModuleIdent>
            <ModuleIdent Default="0">#x69000001</ModuleIdent>
            <ModuleIdent Default="0">#x6A000001</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
        </Eeprom>
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      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65510000" RevisionNo="#x01500000">EPOS4</Type>
        <Name>EPOS4 Module 50/8 EtherCAT</Name>
        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                  <SubItem>
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              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
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                  <Access>ro</Access>
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                <Name>Internal configuration mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
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                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                <Info>
                  <DefaultValue>10</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                <Name>Modular device profile</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
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                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
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            <DiagMessage>
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              <MessageText>Overcurrent error</MessageText>
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            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
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            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
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            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Position sensor breach error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
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              <MessageText>Hall sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall sensor not found error</MessageText>
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            <DiagMessage>
              <TextId>#x738A</TextId>
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            <DiagMessage>
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              <MessageText>BiSS sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>SSI sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Missing main sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
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            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
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            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
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            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN heartbeat error</MessageText>
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            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
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            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
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            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
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            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
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            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
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            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000002</ModuleIdent>
            <ModuleIdent Default="0">#x63000002</ModuleIdent>
            <ModuleIdent Default="1">#x68000002</ModuleIdent>
            <ModuleIdent Default="0">#x69000002</ModuleIdent>
            <ModuleIdent Default="0">#x6A000002</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01500000">EPOS4</Type>
        <Name>EPOS4 Module 50/15 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitOffs>144</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitSize>8</BitSize>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                  <BitOffs>32</BitOffs>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Type>ARRAY [0..15] OF BYTE</Type>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>6th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>8th mapped object in RxPDO 1</Name>
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                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>12th mapped object in RxPDO 1</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
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                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
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                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
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                <SubItem>
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                  <Type>USINT</Type>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                </SubItem>
                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000002</ModuleIdent>
            <ModuleIdent Default="0">#x63000002</ModuleIdent>
            <ModuleIdent Default="1">#x68000002</ModuleIdent>
            <ModuleIdent Default="0">#x69000002</ModuleIdent>
            <ModuleIdent Default="0">#x6A000002</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x60500000" RevisionNo="#x01500000">EPOS4</Type>
        <Name>EPOS4 Module 24/1.5 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>Internal PRBS velocity tuning position values 5</Name>
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                  <BitOffs>64016</BitOffs>
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                <SubItem>
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                  <Name>Internal PRBS velocity tuning position values 6</Name>
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                  <BitOffs>80016</BitOffs>
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                <SubItem>
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                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitSize>8</BitSize>
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                    <Access>ro</Access>
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                <SubItem>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <Name>DT6099</Name>
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                  <Name>Highest sub-index supported</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
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                    <PdoMapping>r</PdoMapping>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 3</Name>
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                  <BitOffs>80</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value sensor 3</Name>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                    <Access>ro</Access>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <Name>Nbr of configured modules</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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              <DataType>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <Index>#x1011</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
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                <Type>DT1601</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x1603</Index>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
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                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Software parameter error</MessageText>
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            <DiagMessage>
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              <MessageText>Persistent parameter corrupt error</MessageText>
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              <MessageText>Current offset error</MessageText>
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            <DiagMessage>
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              <MessageText>Position sensor error</MessageText>
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              <MessageText>Position sensor breach error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Position sensor index error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall sensor not found error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall angle detection error</MessageText>
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            <DiagMessage>
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              <MessageText>BiSS sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>SSI sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Missing main sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
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            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
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            <DiagMessage>
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              <MessageText>CAN overrun error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN passive mode error</MessageText>
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            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
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            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
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            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
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            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
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            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
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            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000002</ModuleIdent>
            <ModuleIdent Default="0">#x63000002</ModuleIdent>
            <ModuleIdent Default="1">#x68000002</ModuleIdent>
            <ModuleIdent Default="0">#x69000002</ModuleIdent>
            <ModuleIdent Default="0">#x6A000002</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01500000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
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                    <PdoMapping>T</PdoMapping>
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                  <BitOffs>144</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <Name>Receive PDO 2 mapping</Name>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Info>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x60640020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
                      <MaxValue>#x1</MaxValue>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Communication type SYNC channel 0</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Communication type SYNC channel 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Communication type SYNC channel 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Communication type SYNC channel 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned RxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st assigned TxPDO</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>192</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor-ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>192</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x1F50</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
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                <Index>#x1F51</Index>
                <Name>Program control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                    <Name>Program number 1</Name>
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                <Index>#x1F56</Index>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                    <Name>Program number 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                    <Name>Program number 1</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Index>#x2000</Index>
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                  <DefaultValue>1</DefaultValue>
                </Info>
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                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
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                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
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                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
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                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
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              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x0</MinValue>
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                <Index>#x301A</Index>
                <Name>Digital Hall sensors</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                <Index>#x30B1</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <Backup>1</Backup>
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                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
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                <Info>
                  <SubItem>
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                  </SubItem>
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                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
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                  <SubItem>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                <Name>Configuration of digital inputs</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>19</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>16</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
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                      <DefaultValue>17</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
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              </Object>
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                <Name>Holding brake parameters</Name>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
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                      <MinValue>0</MinValue>
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                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                <Info>
                  <SubItem>
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                      <DefaultValue>4</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
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                  <SubItem>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
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                      <DefaultValue>120</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
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                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
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                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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          </Dictionary>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
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            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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        <RxPdo Fixed="false" OverwrittenByModule="true">
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          <Name>Output mapping 2</Name>
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          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
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        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
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          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000002</ModuleIdent>
            <ModuleIdent Default="0">#x63000002</ModuleIdent>
            <ModuleIdent Default="1">#x68000002</ModuleIdent>
            <ModuleIdent Default="0">#x69000002</ModuleIdent>
            <ModuleIdent Default="0">#x6A000002</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65510000" RevisionNo="#x01600000">EPOS4</Type>
        <Name>EPOS4 Module 50/8 EtherCAT</Name>
        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
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                  <SubItem>
                    <Name>Calc and copy time</Name>
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                  <SubItem>
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                    <Info />
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                    <Info />
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                    <Name>Program number 1</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                <Name>Flash status identification</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                    <Name>Extension 1 software version</Name>
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                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
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                    <Name>Extension 1 type</Name>
                    <Info />
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x2EC0</Index>
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                <Type>DT2EC0</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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              <Object>
                <Index>#x3000</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  <SubItem>
                    <Name>Commutation sensors</Name>
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                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                  <SubItem>
                    <Name>Electrical inductance</Name>
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                      <MinValue>0</MinValue>
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                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x301A</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
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                <Index>#x30B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window time</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window timeout</Name>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
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                      <DefaultValue>17</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake rise time</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Holding brake fall time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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              <Object>
                <Index>#x3163</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                  <SubItem>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
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                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
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                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                </Info>
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              <Object>
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                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
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                <BitSize>168</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                </Info>
              </Object>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                      <MinValue>1</MinValue>
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                      <DefaultValue>500</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MinValue>3</MinValue>
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                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Name>Internal PRBS velocity tuning excitation offset</Name>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
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                <Flags>
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                  <Backup>1</Backup>
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                  <Backup>1</Backup>
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                  <Backup>1</Backup>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
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                <Index>#x60A8</Index>
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                <Name>SI unit velocity</Name>
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                  <Backup>1</Backup>
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                <Name>SI unit acceleration</Name>
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                  <Backup>1</Backup>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                <Flags>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
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              <Object>
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                <Name>Detected module ident list</Name>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                <Flags>
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                </Flags>
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          </Dictionary>
          <DiagMessages>
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              <MessageText>None</MessageText>
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              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000003</ModuleIdent>
            <ModuleIdent Default="0">#x63000003</ModuleIdent>
            <ModuleIdent Default="1">#x68000003</ModuleIdent>
            <ModuleIdent Default="0">#x69000003</ModuleIdent>
            <ModuleIdent Default="0">#x6A000003</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01600000">EPOS4</Type>
        <Name>EPOS4 Module 50/15 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                    <Name>8th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                </Info>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
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            <Name>Modes of operation display</Name>
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          <Entry>
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            <ModuleIdent Default="0">#x63000004</ModuleIdent>
            <ModuleIdent Default="1">#x68000004</ModuleIdent>
            <ModuleIdent Default="0">#x69000004</ModuleIdent>
            <ModuleIdent Default="0">#x6A000004</ModuleIdent>
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        <Name>EPOS4 Module 50/5 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
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        <GroupType>DriveType</GroupType>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                  <Name>Newest message</Name>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <BitSize>400</BitSize>
                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Name>9th mapped object in RxPDO 1</Name>
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                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
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                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                  <BitSize>8</BitSize>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
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              <DataType>
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                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 3</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>6th mapped object in RxPDO 3</Name>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 2</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>r</PdoMapping>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
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              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                    <Name>7th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                  <Access>ro</Access>
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                  <SubItem>
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                    <Name>Internal PRBS velocity tuning position values 3</Name>
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                    <Name>Internal PRBS velocity tuning position values 4</Name>
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                    <Name>Internal PRBS velocity tuning position values 5</Name>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
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                  <Access>ro</Access>
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                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                  <Access>ro</Access>
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                  <DefaultValue>3</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Quick stop option code</Name>
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                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
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                <BitSize>16</BitSize>
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                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                  <DefaultValue>10</DefaultValue>
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                  <Access>rw</Access>
                  <Backup>1</Backup>
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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>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                      <MinValue>0</MinValue>
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                    <Name>Module 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
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                  <SubItem>
                    <Name>Nbr of detected modules</Name>
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                    <Name>Module 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
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            <DiagMessage>
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            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
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            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
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            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
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            <DiagMessage>
              <TextId>#x5281</TextId>
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              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
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              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
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              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
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              <MessageText>Sign of Life error</MessageText>
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            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>CAN PDO COB-ID collision</MessageText>
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              <MessageText>EtherCAT communication error</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT initialization error</MessageText>
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              <MessageText>EtherCAT Rx queue overflow</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>USB communication error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>CAN Tx queue overflow</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>RPDO timeout</MessageText>
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            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT SDO communication error</MessageText>
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            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
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            <DiagMessage>
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              <MessageText>Following error</MessageText>
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            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
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            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
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            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
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            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
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            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
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            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
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            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000005</ModuleIdent>
            <ModuleIdent Default="0">#x63000005</ModuleIdent>
            <ModuleIdent Default="1">#x68000005</ModuleIdent>
            <ModuleIdent Default="0">#x69000005</ModuleIdent>
            <ModuleIdent Default="0">#x6A000005</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x60500000" RevisionNo="#x01600000">EPOS4</Type>
        <Name>EPOS4 Module 24/1.5 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
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                  <BitOffs>80</BitOffs>
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                <Name>DT607B</Name>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT607D</Name>
                <BitSize>80</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT6099</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT60D0</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DT60E4</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>r</PdoMapping>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                  <Name>Nbr of configured modules</Name>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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              <DataType>
                <Name>DTF050</Name>
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                  <SubIdx>0</SubIdx>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x1008</Index>
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                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
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                <Index>#x1010</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1011</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
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                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
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              </Object>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
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                      <MinValue>1</MinValue>
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                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x31E2</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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              <Object>
                <Index>#x31E5</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E6</Index>
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                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>34</DefaultValue>
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                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
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                  <SubItem>
                    <Name>Internal identify Km</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
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                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
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                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
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                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MinValue>3</MinValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
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                  <Access>ro</Access>
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                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
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                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
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                    <Name>Internal PRBS velocity tuning position values 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
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                  <Access>ro</Access>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
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                <Flags>
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                  <Backup>1</Backup>
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                <Name>Quick stop option code</Name>
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                  <DefaultValue>6</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                <Name>Shutdown option code</Name>
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                <Flags>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
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                  <DefaultValue>2</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
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                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
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                <Flags>
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                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
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                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                  <DefaultValue>10</DefaultValue>
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                <Name>Modular device profile</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
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                    <Name>Maximum number of modules</Name>
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                <Flags>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                      <DefaultValue>1</DefaultValue>
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                    <Name>Module 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
                <Index>#xF050</Index>
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                  <SubItem>
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                    <Name>Module 1</Name>
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              <MessageText>None</MessageText>
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              <MessageText>Persistent parameter corrupt error</MessageText>
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            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000006</ModuleIdent>
            <ModuleIdent Default="0">#x63000006</ModuleIdent>
            <ModuleIdent Default="1">#x68000006</ModuleIdent>
            <ModuleIdent Default="0">#x69000006</ModuleIdent>
            <ModuleIdent Default="0">#x6A000006</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01600000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000005</ModuleIdent>
            <ModuleIdent Default="0">#x63000005</ModuleIdent>
            <ModuleIdent Default="1">#x68000005</ModuleIdent>
            <ModuleIdent Default="0">#x69000005</ModuleIdent>
            <ModuleIdent Default="0">#x6A000005</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x64500000" RevisionNo="#x01600000">EPOS4</Type>
        <Name>EPOS4 70/15 EtherCAT</Name>
        <Comment>EPOS4 70/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
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              <Object>
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                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
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                  <Name>Nbr of configured modules</Name>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <Type>UDINT</Type>
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                  <DefaultValue>#x00020192</DefaultValue>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
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                      <DefaultValue>#x00000001</DefaultValue>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                  <SubItem>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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                <Name>Analog input velocity set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                </Info>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                </Info>
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                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 3</Name>
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                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
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                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal test object</Name>
                <Type>DT3240</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                <Name>Internal configuration electrical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                <Name>Internal parameters electrical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal configuration mechanical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                  </SubItem>
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              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
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          <Entry>
            <Index>#x607A</Index>
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          <Entry>
            <Index>#x60FF</Index>
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            <Name>Target Velocity</Name>
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        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
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            <ShiftTimeSync1>0</ShiftTimeSync1>
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            <ModuleIdent Default="0">#x6A000003</ModuleIdent>
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        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
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        <GroupType>DriveType</GroupType>
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                  </Flags>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                  <BitSize>8</BitSize>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>9th mapped object in RxPDO 1</Name>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
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                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
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                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT60D0</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
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                  <BitOffs>16</BitOffs>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 2</Name>
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                  <BitOffs>48</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
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                  <BitSize>32</BitSize>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value averaged sensor 2</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
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              <DataType>
                <Name>DT60FE</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>r</PdoMapping>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Maximum number of modules</Name>
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                  <BitOffs>32</BitOffs>
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              <DataType>
                <Name>DTF030</Name>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
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                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                  <Access>ro</Access>
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                <Index>#x1010</Index>
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                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1011</Index>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
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                  <SubItem>
                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x1603</Index>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Name>Internal PRBS velocity tuning parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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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>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
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            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Position sensor error</MessageText>
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              <MessageText>Position sensor breach error</MessageText>
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            <DiagMessage>
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              <MessageText>Position sensor index error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall sensor not found error</MessageText>
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            <DiagMessage>
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              <MessageText>Hall angle detection error</MessageText>
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            <DiagMessage>
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              <MessageText>BiSS sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>SSI sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>SSI sensor frame error</MessageText>
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            <DiagMessage>
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              <MessageText>Missing main sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Missing commutation sensor error</MessageText>
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            <DiagMessage>
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              <MessageText>Main sensor direction error</MessageText>
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            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
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            <DiagMessage>
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              <MessageText>CAN overrun error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN passive mode error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN heartbeat error</MessageText>
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            <DiagMessage>
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              <MessageText>CAN PDO COB-ID collision</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT communication error</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT initialization error</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT Rx queue overflow</MessageText>
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            <DiagMessage>
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              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000004</ModuleIdent>
            <ModuleIdent Default="0">#x63000004</ModuleIdent>
            <ModuleIdent Default="1">#x68000004</ModuleIdent>
            <ModuleIdent Default="0">#x69000004</ModuleIdent>
            <ModuleIdent Default="0">#x6A000004</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x61500000" RevisionNo="#x01610000">EPOS4</Type>
        <Name>EPOS4 Module 50/5 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <BitOffs>0</BitOffs>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000001</DefaultValue>
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                      <DefaultValue>4</DefaultValue>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
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                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                  <Access>ro</Access>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Index>#x324E</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
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                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>10</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
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                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
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                  <SubItem>
                    <Name>Nbr of detected modules</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
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                <Flags>
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              <MessageText>None</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Sign of Life error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000005</ModuleIdent>
            <ModuleIdent Default="0">#x63000005</ModuleIdent>
            <ModuleIdent Default="1">#x68000005</ModuleIdent>
            <ModuleIdent Default="0">#x69000005</ModuleIdent>
            <ModuleIdent Default="0">#x6A000005</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x60500000" RevisionNo="#x01610000">EPOS4</Type>
        <Name>EPOS4 Module 24/1.5 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
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                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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              <Object>
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                <Name>Internal data recorder control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
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                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                  <Access>ro</Access>
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                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
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                  <SdoAccess>SubIndexAccess</SdoAccess>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Functional safety</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal test object</Name>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal spi extension test</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
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                <Name>Internal motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
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                <Name>Internal configuration electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal LR identification current</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
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                <Name>Internal parameters electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal inductance</Name>
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                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>34</DefaultValue>
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                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
                    <Name>Internal identify Km</Name>
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                      <MinValue>0</MinValue>
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                    <Name>Internal auxiliary target velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
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                      <MinValue>1</MinValue>
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                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
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                  <SubItem>
                    <Name>Internal set value of current</Name>
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                  <SubItem>
                    <Name>Internal actual position peak value</Name>
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
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                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
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                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
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                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                <Name>Internal PRBS velocity tuning configuration</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000006</ModuleIdent>
            <ModuleIdent Default="0">#x63000006</ModuleIdent>
            <ModuleIdent Default="1">#x68000006</ModuleIdent>
            <ModuleIdent Default="0">#x69000006</ModuleIdent>
            <ModuleIdent Default="0">#x6A000006</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01610000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
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                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x1C00</Index>
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                <Type>DT1C00</Type>
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                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
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                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                <Index>#x3170</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
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                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
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                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3240</Index>
                <Name>Internal test object</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
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                <Name>Internal motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
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                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
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                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
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                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
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                      <MinValue>1</MinValue>
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                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
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                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6007</Index>
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                  <DefaultValue>3</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
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                <Info>
                  <DefaultValue>6</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>2</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value sensor 2</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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              <DataType>
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                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                  <DefaultValue>#x00</DefaultValue>
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                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Product code</Name>
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                  <SubItem>
                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                    <Info>
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                  <SubItem>
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                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
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            <DiagMessage>
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              <MessageText>CAN overrun error</MessageText>
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            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
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            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000004</ModuleIdent>
            <ModuleIdent Default="0">#x63000004</ModuleIdent>
            <ModuleIdent Default="1">#x68000004</ModuleIdent>
            <ModuleIdent Default="0">#x69000004</ModuleIdent>
            <ModuleIdent Default="0">#x6A000004</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x69500000" RevisionNo="#x01610000">EPOS4</Type>
        <Name>EPOS4 Micro 24/5 EtherCAT</Name>
        <Comment>EPOS4 Micro 24/5 EtherCAT</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>136</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal number of oscillation cycles</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <BitOffs>144</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <Type>USINT</Type>
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                    <Access>ro</Access>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Type>USINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
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                  <SubItem>
                    <Name>Revision number</Name>
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                  <SubItem>
                    <Name>Serial number</Name>
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                <Flags>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
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                  <SubItem>
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                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                    <Info>
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                    <Info>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>12</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal controller protection</Name>
                <Type>DT3201</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200</MaxValue>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal number of oscillation cycles</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61F0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF18</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
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          <Entry>
            <Index>#x60FF</Index>
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            <Name>Target Velocity</Name>
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            <ModuleIdent Default="0">#x6A000007</ModuleIdent>
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        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
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        <GroupType>DriveType</GroupType>
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                <SubItem>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>4th mapped object in RxPDO 1</Name>
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                </SubItem>
                <SubItem>
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                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>11th mapped object in RxPDO 1</Name>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>1st mapped object in RxPDO 2</Name>
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                </SubItem>
                <SubItem>
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                </SubItem>
                <SubItem>
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                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
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                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
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                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
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                  <BitOffs>64016</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
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                  <BitOffs>80016</BitOffs>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
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              <DataType>
                <Name>DT3250</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>48</BitOffs>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>DINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT607D</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT6099</Name>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                    <Backup>1</Backup>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>72</BitOffs>
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                <SubItem>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
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                <SubItem>
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                <SubItem>
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                  <Name>12th supported homing method</Name>
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                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
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                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
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                  <BitOffs>120</BitOffs>
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                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
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                  <BitOffs>128</BitOffs>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Position actual value sensor 3</Name>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
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                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF050</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
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                <Index>#x1010</Index>
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                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1018</Index>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x1600</Index>
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                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
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                  <SubItem>
                    <Name>Extension 1 application number</Name>
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                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
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                  <Access>ro</Access>
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              <Object>
                <Index>#x210C</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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              <Object>
                <Index>#x2200</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
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              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
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                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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                <Index>#x3000</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Gear reduction numerator</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Gear reduction denominator</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x301A</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
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                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window</Name>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
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                    <Name>Digital output 2 configuration</Name>
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                      <DefaultValue>17</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Current set value first current</Name>
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                      <MinValue>-30000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
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                      <MinValue>-30000</MinValue>
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                  <SubItem>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
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                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>Internal data recorder variable index 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
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                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                <Flags>
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                <Index>#x31E6</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000008</ModuleIdent>
            <ModuleIdent Default="0">#x63000008</ModuleIdent>
            <ModuleIdent Default="1">#x68000008</ModuleIdent>
            <ModuleIdent Default="0">#x69000008</ModuleIdent>
            <ModuleIdent Default="0">#x6A000008</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 Module 50/15 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
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                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              <DataType>
                <Name>DT60E4</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
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                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
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              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
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              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
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          <DiagMessages>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
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            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
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            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
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            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
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            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000009</ModuleIdent>
            <ModuleIdent Default="0">#x63000009</ModuleIdent>
            <ModuleIdent Default="1">#x68000009</ModuleIdent>
            <ModuleIdent Default="0">#x69000009</ModuleIdent>
            <ModuleIdent Default="0">#x6A000009</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x61500000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 Module 50/5 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
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                  <SubItem>
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                    <Name>7th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>9th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>10th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>11th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
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                  <SubItem>
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                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                <Name>Receive PDO 3 mapping</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                    <Name>2nd mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
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              <Object>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <Name>SYNC manager communication type</Name>
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                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
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                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
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                </Info>
                <Flags>
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              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Name>Internal data recorder configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
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                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x31E2</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                <Name>Internal data recorder control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Name>Internal data recorder buffer variable 3</Name>
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                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal test object</Name>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
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                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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              </Object>
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                <Name>Internal configuration electrical system tuning</Name>
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                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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                <Name>Internal parameters electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                <Name>Internal parameters mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MaxValue>3000</MaxValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                <Name>Internal PRBS velocity tuning parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
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                <Info>
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                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
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          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
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          <Entry>
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            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
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          <Exclude>#x1A00</Exclude>
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          <Entry>
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          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
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            <Name>Statusword</Name>
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          <Entry>
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            <Name>Velocity actual value</Name>
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            <AssignActivate>#x300</AssignActivate>
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            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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          <OpMode>
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            <ShiftTimeSync0>0</ShiftTimeSync0>
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            <ShiftTimeSync1>0</ShiftTimeSync1>
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            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100000A</ModuleIdent>
            <ModuleIdent Default="0">#x6300000A</ModuleIdent>
            <ModuleIdent Default="1">#x6800000A</ModuleIdent>
            <ModuleIdent Default="0">#x6900000A</ModuleIdent>
            <ModuleIdent Default="0">#x6A00000A</ModuleIdent>
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          <ByteSize>2048</ByteSize>
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          <BootStrap>0010640064106400</BootStrap>
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        <Name>EPOS4 Module 24/1.5 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
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            <Behavior StartToSafeopNoSync="false" />
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        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                  <Elements>20</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <Elements>2000</Elements>
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              <DataType>
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                  <Elements>288</Elements>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
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              <DataType>
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                  </Flags>
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                  <BitSize>32</BitSize>
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                  <Flags>
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                  </Flags>
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                <SubItem>
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                  <Name>Internal restore factory default parameters</Name>
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                  <Flags>
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                  </Flags>
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                <SubItem>
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                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Name>Product code</Name>
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                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Name>Revision number</Name>
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                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Name>Serial number</Name>
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                  <Flags>
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                  </Flags>
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                <SubItem>
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                  <Name>Maximum messages</Name>
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                  <BitSize>8</BitSize>
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                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
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                  <BitSize>8</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <BitSize>8</BitSize>
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                  <Flags>
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                  </Flags>
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                <SubItem>
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                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
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                  <Flags>
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                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
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                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
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              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
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              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>28500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
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                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>32000</DefaultValue>
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                <Index>#x2EC0</Index>
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                <Type>DT2EC0</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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                <Index>#x3000</Index>
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                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x301A</Index>
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                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
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              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
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                </Info>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                    </Info>
                  </SubItem>
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                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
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                      <MinValue>-4500</MinValue>
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                <Name>Analog input velocity set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
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                      <MinValue>40</MinValue>
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                      <MinValue>1</MinValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                <Flags>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
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                <BitSize>32016</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
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                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>2nd supported homing method</Name>
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                  <SubItem>
                    <Name>3rd supported homing method</Name>
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                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>9th supported homing method</Name>
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                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
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                <Flags>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
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                <Info>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
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                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
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              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
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                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
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              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100000B</ModuleIdent>
            <ModuleIdent Default="0">#x6300000B</ModuleIdent>
            <ModuleIdent Default="1">#x6800000B</ModuleIdent>
            <ModuleIdent Default="0">#x6900000B</ModuleIdent>
            <ModuleIdent Default="0">#x6A00000B</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                <SubItem>
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                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitSize>32</BitSize>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                    <PdoMapping>T</PdoMapping>
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                <Name>DT60FE</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
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                    <Access>ro</Access>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x1008</Index>
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                  <DefaultString>EPOS4</DefaultString>
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                <Index>#x1010</Index>
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                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
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                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100000A</ModuleIdent>
            <ModuleIdent Default="0">#x6300000A</ModuleIdent>
            <ModuleIdent Default="1">#x6800000A</ModuleIdent>
            <ModuleIdent Default="0">#x6900000A</ModuleIdent>
            <ModuleIdent Default="0">#x6A00000A</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x64500000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 70/15 EtherCAT</Name>
        <Comment>EPOS4 70/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Receive PDO 3 mapping</Name>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Receive PDO 4 mapping</Name>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Transmit PDO 2 mapping</Name>
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                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x60610008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
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                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Transmit PDO 4 mapping</Name>
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                <Info>
                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
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                <Flags>
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              <Object>
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                <Name>SYNC manager 2 PDO assignment</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>SYNC manager 3 PDO assignment</Name>
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                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
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                      <MinValue>#x00</MinValue>
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                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Program data</Name>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
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              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
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                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
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              <Object>
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                <Name>Program software identification</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Program number 1</Name>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>74500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>78000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <Name>Position actual value sensor 3</Name>
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                  <BitOffs>80</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <Type>USINT</Type>
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                    <Access>ro</Access>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Maximum number of modules</Name>
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                  <BitOffs>32</BitOffs>
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                <Name>DTF030</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
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                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                  <Access>ro</Access>
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                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <Index>#x1018</Index>
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                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
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                    <Info>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>7000</MinValue>
                      <MaxValue>28500</MaxValue>
                      <DefaultValue>7000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>32000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
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                      <DefaultValue>255</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                </Info>
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                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                <Name>Analog input velocity set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
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                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>900</MaxValue>
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                <Name>Internal test object</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
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                <Name>Internal motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                <Name>Internal configuration electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal LR identification current</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
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                <Name>Internal parameters electrical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Name>Internal configuration mechanical system tuning</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
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              <Object>
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                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100000C</ModuleIdent>
            <ModuleIdent Default="0">#x6300000C</ModuleIdent>
            <ModuleIdent Default="1">#x6800000C</ModuleIdent>
            <ModuleIdent Default="0">#x6900000C</ModuleIdent>
            <ModuleIdent Default="0">#x6A00000C</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x6A500000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 Disk 60/8 EtherCAT</Name>
        <Comment>EPOS4 Disk 60/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>High-speed digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Holding brake maximal voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Holding brake reduced voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
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              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>62500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>64000</DefaultValue>
                    </Info>
                  </SubItem>
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                <Index>#x2EC0</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x301A</Index>
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                <Type>DT301A</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
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                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake maximal voltage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake reduced voltage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>240</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-24000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
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                      <MinValue>-24000</MinValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Internal data recorder sampling period</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                    <Name>Internal data recorder trigger low value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
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                      <DefaultValue>#x0000</DefaultValue>
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                    <Name>Internal data recorder statusword</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x31E8</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x31E9</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100000D</ModuleIdent>
            <ModuleIdent Default="0">#x6300000D</ModuleIdent>
            <ModuleIdent Default="1">#x6800000D</ModuleIdent>
            <ModuleIdent Default="0">#x6900000D</ModuleIdent>
            <ModuleIdent Default="0">#x6A00000D</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x6B500000" RevisionNo="#x01700000">EPOS4</Type>
        <Name>EPOS4 Disk 60/12 EtherCAT</Name>
        <Comment>EPOS4 Disk 60/12</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>High-speed digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake rise time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake fall time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Holding brake maximal voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Holding brake reduced voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
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                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
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                      <MinValue>#x00</MinValue>
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                  <SubItem>
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                  <SubItem>
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                    <Name>Program number 1</Name>
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                <Index>#x1F51</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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              <Object>
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                <Name>Flash status identification</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                    <Name>Program number 1</Name>
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                  <Access WriteRestrictions="PreOP">rw</Access>
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                  <MaxValue>65535</MaxValue>
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                <Flags>
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                <Name>Active fieldbus</Name>
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                <Flags>
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                    <Info>
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                  <SubItem>
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                <Flags>
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              <Object>
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                <Name>Extension 1 identity</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
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                <Index>#x2200</Index>
                <Name>Power supply</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>62500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>64000</DefaultValue>
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              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
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                      <DefaultValue>#x00000000</DefaultValue>
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              </Object>
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                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake rise time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake fall time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Holding brake maximal voltage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Holding brake reduced voltage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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              <Object>
                <Index>#x3163</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first current</Name>
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                      <MinValue>-36000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-36000</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>24</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
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                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1050</MaxValue>
                      <DefaultValue>1050</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7280</TextId>
              <MessageText>Current offset error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8188</TextId>
              <MessageText>USB communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8331</TextId>
              <MessageText>Torque fault</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A83</TextId>
              <MessageText>Max speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
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        <Comment>EPOS4 Module 50/8</Comment>
        <URL>http://www.maxonmotor.com</URL>
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        <GroupType>DriveType</GroupType>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                <SubItem>
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                  <BitSize>32</BitSize>
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                <SubItem>
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                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
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                  <Name>4th mapped object in RxPDO 1</Name>
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                <SubItem>
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                <SubItem>
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                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 1</Name>
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                <SubItem>
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                <SubItem>
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                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>11th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>12th mapped object in RxPDO 1</Name>
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                </SubItem>
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                <SubItem>
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                  <Name>1st mapped object in RxPDO 2</Name>
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                <SubItem>
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                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                </SubItem>
                <SubItem>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
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                <SubItem>
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                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
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                <SubItem>
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              <DataType>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
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              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
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                    </Info>
                  </SubItem>
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                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
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                <Name>Internal data recorder configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
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                      <MinValue>40</MinValue>
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                      <DefaultValue>120</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
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                      <MinValue>1</MinValue>
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              <Object>
                <Index>#x31E2</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E6</Index>
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                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
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            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
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            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
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            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
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            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
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            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
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            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
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            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
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            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
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            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
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              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000017</ModuleIdent>
            <ModuleIdent Default="0">#x63000017</ModuleIdent>
            <ModuleIdent Default="1">#x68000017</ModuleIdent>
            <ModuleIdent Default="0">#x69000017</ModuleIdent>
            <ModuleIdent Default="0">#x6A000017</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65520000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Module 50/15 EtherCAT</Name>
        <Comment>EPOS4 Module 50/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitOffs>0</BitOffs>
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                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Nbr of configured modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                  <DefaultString>EPOS4</DefaultString>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Product code</Name>
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                    <Info>
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                  <SubItem>
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                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                    <Info>
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                    <Info>
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                    <Info>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x60640020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake coupling time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake opening time</Name>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
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                      <MinValue>5000</MinValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                <Name>Analog input current set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first current</Name>
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                      <MinValue>-30000</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
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                      <MinValue>-30000</MinValue>
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                <Name>Analog input velocity set value properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                <Name>Internal data recorder variable index</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Name>Internal data recorder configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                <Name>Internal data recorder trigger</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                <Name>Internal data recorder control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
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                <Name>Internal data recorder data</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
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                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Temperature power stage</Name>
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                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                <Name>Internal configuration electrical system tuning</Name>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <MinValue>0</MinValue>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Internal frequency</Name>
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                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>34</DefaultValue>
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                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
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                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
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                  <SubItem>
                    <Name>Internal identify Km</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                <Name>Internal parameters mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal set value of current</Name>
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                  <SubItem>
                    <Name>Internal actual position peak value</Name>
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
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                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000010</ModuleIdent>
            <ModuleIdent Default="0">#x63000010</ModuleIdent>
            <ModuleIdent Default="1">#x68000010</ModuleIdent>
            <ModuleIdent Default="0">#x69000010</ModuleIdent>
            <ModuleIdent Default="0">#x6A000010</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x61500000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Module 50/5 EtherCAT</Name>
        <Comment>EPOS4 Module 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                    <Info />
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
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              <Object>
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                <Name>Flash status identification</Name>
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                <Info>
                  <SubItem>
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                    <Info>
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                  <SubItem>
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                <Flags>
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              <Object>
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                  <DefaultValue>1</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1050</MaxValue>
                      <DefaultValue>1050</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000011</ModuleIdent>
            <ModuleIdent Default="0">#x63000011</ModuleIdent>
            <ModuleIdent Default="1">#x68000011</ModuleIdent>
            <ModuleIdent Default="0">#x69000011</ModuleIdent>
            <ModuleIdent Default="0">#x6A000011</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x60500000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Module 24/1.5 EtherCAT</Name>
        <Comment>EPOS4 Module 24/1.5</Comment>
        <URL>http://www.maxonmotor.com</URL>
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            <Behavior StartToSafeopNoSync="false" />
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                    <Access>ro</Access>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
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                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                    <Name>2nd mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>28500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>32000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-4500</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    <Name>Internal proportional gain for dynamic friction</Name>
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                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
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                    <Name>Internal auxiliary target velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Internal auxiliary profile acceleration</Name>
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                <Name>Internal PRBS velocity tuning configuration</Name>
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                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                  <DefaultValue>#x00B44700</DefaultValue>
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                  <SubItem>
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                <Name>Motor type</Name>
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                <Flags>
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                  <SubItem>
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            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000018</ModuleIdent>
            <ModuleIdent Default="0">#x63000018</ModuleIdent>
            <ModuleIdent Default="1">#x68000018</ModuleIdent>
            <ModuleIdent Default="0">#x69000018</ModuleIdent>
            <ModuleIdent Default="0">#x6A000018</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x63500000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 50/5 EtherCAT</Name>
        <Comment>EPOS4 50/5</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>55500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>58000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
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                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
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                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
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                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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                <Name>Internal motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
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                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
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                      <MinValue>11</MinValue>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
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                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
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                <Info>
                  <DefaultValue>3</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>6</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
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            <Name>Modes of operation display</Name>
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            <ModuleIdent Default="0">#x69000011</ModuleIdent>
            <ModuleIdent Default="0">#x6A000011</ModuleIdent>
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        <Comment>EPOS4 70/15</Comment>
        <URL>http://www.maxonmotor.com</URL>
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        <GroupType>DriveType</GroupType>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                <SubItem>
                  <SubIdx>5</SubIdx>
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                  <Type>UDINT</Type>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>10</SubIdx>
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                <SubItem>
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                  <Name>11th mapped object in RxPDO 1</Name>
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                <SubItem>
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                  <Name>12th mapped object in RxPDO 1</Name>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
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                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
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                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
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                </SubItem>
              </DataType>
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                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
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                </SubItem>
                <SubItem>
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                  <Name>2nd mapped object in RxPDO 3</Name>
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                <SubItem>
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                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60FF0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>Transmit PDO 1 mapping</Name>
                <Type>DT1A00</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x2200</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
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                <Flags>
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              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>74500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
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                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>78000</DefaultValue>
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                <Index>#x2EC0</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
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                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
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                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
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                <Index>#x3000</Index>
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                <Type>DT3000</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Main sensor resolution</Name>
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                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
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                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Index>#x301A</Index>
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                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
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              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
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                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
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                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Holding brake state</Name>
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                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
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                <Name>Analog input current set value properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Current set value first voltage</Name>
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                  <SubItem>
                    <Name>Current set value first current</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Current set value second current</Name>
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                      <MinValue>-30000</MinValue>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
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                      <MinValue>-10000</MinValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Analog output 1 configuration</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Analog output 2 configuration</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>4</DefaultValue>
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                    <Name>Internal data recorder variable index 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>Internal data recorder variable index 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Internal data recorder sampling period</Name>
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                      <MinValue>40</MinValue>
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                  <SubItem>
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                      <DefaultValue>6</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
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                      <DefaultValue>#xFFFFFFFF</DefaultValue>
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                    <Name>Internal data recorder trigger number of preceding samples</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
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                      <DefaultValue>#x0000</DefaultValue>
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                    <Name>Internal data recorder statusword</Name>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
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                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
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                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
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                <Flags>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x31E8</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
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                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
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          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
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            <Name>Modes of operation</Name>
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          <Entry>
            <Index>#x607A</Index>
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            <Name>Target position</Name>
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        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
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          <Exclude>#x1601</Exclude>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
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        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
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        <TxPdo Fixed="false" OverwrittenByModule="true">
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          <Name>Input mapping 2</Name>
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          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
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            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
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            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
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        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
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        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
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        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x61000010</ModuleIdent>
            <ModuleIdent Default="0">#x63000010</ModuleIdent>
            <ModuleIdent Default="1">#x68000010</ModuleIdent>
            <ModuleIdent Default="0">#x69000010</ModuleIdent>
            <ModuleIdent Default="0">#x6A000010</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
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      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x69500000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Micro 24/5 EtherCAT</Name>
        <Comment>EPOS4 Micro 24/5 EtherCAT</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
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                <BitSize>32</BitSize>
              </DataType>
              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <Elements>16</Elements>
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                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
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                  <Elements>4</Elements>
                </ArrayInfo>
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                <BaseType>UINT</BaseType>
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                  <Elements>1</Elements>
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                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
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                  <Elements>1</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
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                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
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                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
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                  <Elements>20</Elements>
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                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
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                  <Elements>2000</Elements>
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                <BitSize>2304</BitSize>
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                  <Elements>288</Elements>
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              <DataType>
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                <BitSize>8</BitSize>
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              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
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                    <Name>10th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>7000</MinValue>
                      <MaxValue>28500</MaxValue>
                      <DefaultValue>7000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>32000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-15000</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x3181</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
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              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
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                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
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                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
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                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>900</MaxValue>
                      <DefaultValue>900</DefaultValue>
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                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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              <Object>
                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
                <Type>DT3250</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x6007</Index>
                <Name>Abort connection option code</Name>
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                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>2</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00B50000</MinValue>
                  <MaxValue>#x00B50000</MaxValue>
                  <DefaultValue>#x00B50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>#x00C00300</MinValue>
                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
                <Type>DT60D0</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Touch probe 1 source</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E3</Index>
                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>15</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6402</Index>
                <Name>Motor type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
                <Type>DTF000</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
            <DiagMessage>
              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                    <Backup>1</Backup>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                </SubItem>
                <SubItem>
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                </SubItem>
                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>7th mapped object in RxPDO 2</Name>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>10th mapped object in RxPDO 3</Name>
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                <SubItem>
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                <SubItem>
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                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>High-speed digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Holding brake opening voltage (maximal)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Holding brake retaining voltage (reduced)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
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                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
                <Type>DT1603</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
                    <Info>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
                    <Info>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                    <Name>2nd mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>62500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>64000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening voltage (maximal)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake retaining voltage (reduced)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-24000</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-24000</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
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                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100001A</ModuleIdent>
            <ModuleIdent Default="0">#x6300001A</ModuleIdent>
            <ModuleIdent Default="1">#x6800001A</ModuleIdent>
            <ModuleIdent Default="0">#x6900001A</ModuleIdent>
            <ModuleIdent Default="0">#x6A00001A</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x6B500000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Disk 60/12 EtherCAT</Name>
        <Comment>EPOS4 Disk 60/12</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>High-speed digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Holding brake opening voltage (maximal)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Holding brake retaining voltage (reduced)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Touch probe 1 source</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF000</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Index distance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF030</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
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                  <SubItem>
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                  <SubItem>
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                  <Backup>1</Backup>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                <Name>Transmit PDO 3 mapping</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <Backup>1</Backup>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x60410010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x606C0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
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                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
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                  <Backup>1</Backup>
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              <Object>
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              <Object>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>8000</MinValue>
                      <MaxValue>62500</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>64000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening voltage (maximal)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake retaining voltage (reduced)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-36000</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-36000</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1050</MaxValue>
                      <DefaultValue>1050</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal resistance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324B</Index>
                <Name>Internal configuration mechanical system tuning</Name>
                <Type>DT324B</Type>
                <BitSize>248</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>34</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cut-off frequency of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>200000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal target amplitude of oscillation</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>82000</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal identify Km</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal proportional gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal integral gain for dynamic friction</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary target velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile acceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary profile deceleration</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>10000</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x324C</Index>
                <Name>Internal parameters mechanical system tuning</Name>
                <Type>DT324C</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal cycle duration</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal set value of current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual position peak value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal actual value of dynamic friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal extra delay</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity demand value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal auxiliary velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x324D</Index>
                <Name>Internal PRBS velocity tuning configuration</Name>
                <Type>DT324D</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning step amplitude</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning target amplitude</Name>
                    <Info>
                      <MinValue>3</MinValue>
                      <MaxValue>3000</MaxValue>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                    <Info>
                      <MinValue>11</MinValue>
                      <MaxValue>60</MaxValue>
                      <DefaultValue>11</DefaultValue>
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                </Info>
              </Object>
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                <Index>#x324E</Index>
                <Name>Internal PRBS velocity tuning parameter</Name>
                <Type>DT324E</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x324F</Index>
                <Name>Internal PRBS velocity tuning position values</Name>
                <Type>DT324F</Type>
                <BitSize>98320</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>7</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 5</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 6</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning position values 7</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
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                <Index>#x3250</Index>
                <Name>Internal PRBS velocity tuning excitation offset</Name>
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                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Name>Abort connection option code</Name>
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                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605A</Index>
                <Name>Quick stop option code</Name>
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                  <DefaultValue>6</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605C</Index>
                <Name>Disable operation option code</Name>
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                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x605D</Index>
                <Name>Halt option code</Name>
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                <Info>
                  <DefaultValue>1</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>2</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                </Flags>
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              <Object>
                <Index>#x60A8</Index>
                <Name>SI unit position</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>#x00B50000</MinValue>
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                  <DefaultValue>#x00B50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60A9</Index>
                <Name>SI unit velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00B44700</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x60AA</Index>
                <Name>SI unit acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
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                  <MaxValue>#x00C00300</MaxValue>
                  <DefaultValue>#x00C00300</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D0</Index>
                <Name>Touch probe source</Name>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                    <Info />
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                <Flags>
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              <Object>
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                <Name>Supported homing methods</Name>
                <Type>DT60E3</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>15</DefaultValue>
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                  <SubItem>
                    <Name>1st supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>2nd supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>3rd supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>4th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>5th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>6th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>7th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>8th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>9th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>10th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>11th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>12th supported homing method</Name>
                    <Info />
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                  <SubItem>
                    <Name>13th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>14th supported homing method</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>15th supported homing method</Name>
                    <Info />
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                <Flags>
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                <Index>#x6402</Index>
                <Name>Motor type</Name>
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                <Info>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#xF000</Index>
                <Name>Modular device profile</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Index distance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Maximum number of modules</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#xF030</Index>
                <Name>Configured module ident list</Name>
                <Type>DTF030</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of configured modules</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#xF050</Index>
                <Name>Detected module ident list</Name>
                <Type>DTF050</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Nbr of detected modules</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Module 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
          <DiagMessages>
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              <TextId>#x0000</TextId>
              <MessageText>None</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1000</TextId>
              <MessageText>Generic error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1080</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1081</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1082</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1083</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1084</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1085</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1086</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1087</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1088</TextId>
              <MessageText>Generic initialisation error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x1090</TextId>
              <MessageText>Firmware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2310</TextId>
              <MessageText>Overcurrent error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x2320</TextId>
              <MessageText>Power stage protection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3210</TextId>
              <MessageText>Overvoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x3220</TextId>
              <MessageText>Undervoltage error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4210</TextId>
              <MessageText>Thermal overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x4380</TextId>
              <MessageText>Thermal motor overload error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5113</TextId>
              <MessageText>Logic supply voltage too low error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5280</TextId>
              <MessageText>Hardware defect error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5281</TextId>
              <MessageText>Hardware incompatibility error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5282</TextId>
              <MessageText>STO card detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5480</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5481</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5482</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x5483</TextId>
              <MessageText>Hardware error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6080</TextId>
              <MessageText>Sign of Life error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6081</TextId>
              <MessageText>Extension 1 Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6180</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6181</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6182</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6183</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6184</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6185</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6186</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6187</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6188</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6189</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618B</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618C</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618D</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618E</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x618F</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6190</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6191</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61A6</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B4</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61B5</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E0</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E1</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E2</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x61E3</TextId>
              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100001B</ModuleIdent>
            <ModuleIdent Default="0">#x6300001B</ModuleIdent>
            <ModuleIdent Default="1">#x6800001B</ModuleIdent>
            <ModuleIdent Default="0">#x6900001B</ModuleIdent>
            <ModuleIdent Default="0">#x6A00001B</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
      <Device Physics="YY">
        <Type ProductCode="#x65530000" RevisionNo="#x01800000">EPOS4</Type>
        <Name>EPOS4 Module 60/20 EtherCAT</Name>
        <Comment>EPOS4 Module 60/20</Comment>
        <URL>http://www.maxonmotor.com</URL>
        <Info>
          <StateMachine>
            <Behavior StartToSafeopNoSync="false" />
          </StateMachine>
        </Info>
        <GroupType>DriveType</GroupType>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT1010</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Save all parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1011</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Restore all default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal restore factory default parameters</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1018</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest 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>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1600</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1601</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1602</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1603</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in RxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in RxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A00</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A01</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 2</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A02</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 3</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1A03</Name>
                <BitSize>400</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of mapped objects in TxPDO 4</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th mapped object in TxPDO 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of used SYNC manager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned RxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned TxPDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F50</Name>
                <BitSize>8208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>ARRAY [0..1023] OF BYTE</Type>
                  <BitSize>8192</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>wo</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F51</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F56</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1F57</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Program number 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2100</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Serial number complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2101</Name>
                <BitSize>152</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Extension 1 software version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Extension 1 hardware version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Extension 1 application number</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Extension 1 application version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Extension 1 serial number</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Extension 1 type</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT210C</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Custom persistent memory 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Custom persistent memory 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Custom persistent memory 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Custom persistent memory 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2200</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply voltage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal valid logic supply</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2201</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Power supply undervoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Power supply overvoltage limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2EC0</Name>
                <BitSize>200</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal error control</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal CAN NMT state</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal bootloader revision number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal bootloader product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal Extension communication error code</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal ESM state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Internal LED Identification</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Internal debug state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3000</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sensors configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Control structure</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Commutation sensors</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Axis configuration miscellaneous</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Main sensor resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Max system speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Electrical resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Electrical inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3003</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Gear reduction numerator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Gear reduction denominator</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Max gear input speed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Gear miscellaneous configuration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT301A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital Hall sensor type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital Hall sensor pattern</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30B5</Name>
                <BitSize>56</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal absolute home reference</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal absolute home reference state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30E0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standstill window</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standstill window time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Standstill window timeout</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3142</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>High-speed digital input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>High-speed digital input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>High-speed digital input 3 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>High-speed digital input 4 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3151</Name>
                <BitSize>40</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>High-speed digital output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3158</Name>
                <BitSize>88</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Holding brake coupling time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Holding brake opening time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Holding brake state</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Holding brake opening voltage (maximal)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Holding brake retaining voltage (reduced)</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>72</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3161</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3163</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 1 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog input 2 adjustment offset</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Analog input 2 adjustment gain factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3170</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current set value first current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Current set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Current set value second current</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3171</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity set value first voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity set value first velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity set value second voltage</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity set value second velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3181</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 configuration</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E0</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder variable index 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder variable index 2</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder variable index 3</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder variable index 4</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E1</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder sampling period</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder max number of samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E2</Name>
                <BitSize>168</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder trigger variable index</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder trigger mode</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder trigger high value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>56</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal data recorder trigger low value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal data recorder trigger mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal data recorder trigger number of preceding samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder controlword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder statusword</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E5</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder number of recorded samples</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal recorder buffer timestamp</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal data recorder snapshot</Name>
                  <Type>ARRAY [0..19] OF BYTE</Type>
                  <BitSize>160</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E6</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 1 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 1 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E7</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 2 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 2 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E8</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 3 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 3 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT31E9</Name>
                <BitSize>32016</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal data recorder buffer variable 4 complete</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal data recorder buffer variable 4 part 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3201</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Temperature power stage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Maximal temperature power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>STO internal device state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3240</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal spi extension test</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC encoder 2 channel A analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC encoder 2 channel B analog value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3241</Name>
                <BitSize>128</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal ADC current offset simultaneous phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal ADC current offset sequential phase U</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal ADC current offset sequential phase V</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal ADC current offset sequential phase W</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal electrical rotor angle</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3248</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal LR identification current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal LR identification frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3249</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal resistance</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal inductance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324B</Name>
                <BitSize>248</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cut-off frequency of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal target amplitude of oscillation</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal identify Km</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal proportional gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal integral gain for dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>120</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary target velocity</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>152</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary profile acceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>184</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Internal auxiliary profile deceleration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>216</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324C</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal cycle duration</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal set value of current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal actual position peak value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal actual value of dynamic friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal extra delay</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Internal auxiliary velocity demand value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Internal auxiliary velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324D</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning step amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning target amplitude</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning max cycle time factor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324E</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation amplitude</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT324F</Name>
                <BitSize>98320</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 1</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 2</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>16016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 3</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>32016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 4</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>48016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 5</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>64016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 6</Name>
                  <Type>ARRAY [0..1999] OF BYTE</Type>
                  <BitSize>16000</BitSize>
                  <BitOffs>80016</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Internal PRBS velocity tuning position values 7</Name>
                  <Type>ARRAY [0..287] OF BYTE</Type>
                  <BitSize>2304</BitSize>
                  <BitOffs>96016</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3250</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Internal PRBS velocity tuning excitation offset 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60D0</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Type>INT</Type>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DT60E3</Name>
                <BitSize>136</BitSize>
                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>1st supported homing method</Name>
                  <Type>SINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>2nd supported homing method</Name>
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                  <BitOffs>24</BitOffs>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>3rd supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>4th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>40</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>5th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>48</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>6th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>56</BitOffs>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>7th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>64</BitOffs>
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                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>8th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>72</BitOffs>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>9th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>10th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>88</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>11th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>96</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>12th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>104</BitOffs>
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                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>13th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>14th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>120</BitOffs>
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                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>15th supported homing method</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>128</BitOffs>
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                <Name>DT60E4</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DTF000</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Maximum number of modules</Name>
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                  <BitOffs>32</BitOffs>
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              <DataType>
                <Name>DTF030</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of configured modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
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              <DataType>
                <Name>DTF050</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Nbr of detected modules</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Module 1</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
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                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00020192</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1008</Index>
                <Name>Manufacturer device name</Name>
                <Type>STRING(5)</Type>
                <BitSize>40</BitSize>
                <Info>
                  <DefaultString>EPOS4</DefaultString>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x1010</Index>
                <Name>Store parameters</Name>
                <Type>DT1010</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Save all parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Restore default parameters</Name>
                <Type>DT1011</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Restore all default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Internal restore factory default parameters</Name>
                    <Info>
                      <DefaultValue>#x00000001</DefaultValue>
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              <Object>
                <Index>#x1018</Index>
                <Name>Identity object</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info />
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                  <SubItem>
                    <Name>Product code</Name>
                    <Info />
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                  <SubItem>
                    <Name>Revision number</Name>
                    <Info />
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                  <SubItem>
                    <Name>Serial number</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Index>#x1600</Index>
                <Name>Receive PDO 1 mapping</Name>
                <Type>DT1600</Type>
                <BitSize>400</BitSize>
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                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 1</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>Receive PDO 2 mapping</Name>
                <Type>DT1601</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60600008</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in RxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>Receive PDO 3 mapping</Name>
                <Type>DT1602</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in RxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x607A0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
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                </Info>
                <Flags>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x1603</Index>
                <Name>Receive PDO 4 mapping</Name>
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                <BitSize>400</BitSize>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>1st mapped object in RxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60400010</DefaultValue>
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                  <SubItem>
                    <Name>2nd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x60FF0020</DefaultValue>
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                  <SubItem>
                    <Name>3rd mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>4th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>5th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>6th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>7th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>8th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>9th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>10th mapped object in RxPDO 4</Name>
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                  <SubItem>
                    <Name>11th mapped object in RxPDO 4</Name>
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                      <DefaultValue>#x00000000</DefaultValue>
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                  <SubItem>
                    <Name>12th mapped object in RxPDO 4</Name>
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                <Flags>
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                  <Backup>1</Backup>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Transmit PDO 2 mapping</Name>
                <Type>DT1A01</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 2</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x60610008</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A02</Index>
                <Name>Transmit PDO 3 mapping</Name>
                <Type>DT1A02</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 3</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x60640020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A03</Index>
                <Name>Transmit PDO 4 mapping</Name>
                <Type>DT1A03</Type>
                <BitSize>400</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of mapped objects in TxPDO 4</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12</MaxValue>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x60410010</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>2nd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x606C0020</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>3rd mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>4th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>5th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>6th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>7th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>8th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>9th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>10th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>11th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>12th mapped object in TxPDO 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>SYNC manager communication type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of used SYNC manager channels</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 0</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Communication type SYNC channel 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SYNC manager 2 PDO assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned RxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned RxPDO</Name>
                    <Info>
                      <MinValue>#x1600</MinValue>
                      <MaxValue>#x1603</MaxValue>
                      <DefaultValue>#x1600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SYNC manager 3 PDO assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Number of assigned TxPDOs</Name>
                    <Info>
                      <MinValue>#x00</MinValue>
                      <MaxValue>#x01</MaxValue>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>1st assigned TxPDO</Name>
                    <Info>
                      <MinValue>#x1A00</MinValue>
                      <MaxValue>#x1A03</MaxValue>
                      <DefaultValue>#x1A00</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F50</Index>
                <Name>Program data</Name>
                <Type>DT1F50</Type>
                <BitSize>8208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F51</Index>
                <Name>Program control</Name>
                <Type>DT1F51</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info>
                      <DefaultValue>#x01</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1F56</Index>
                <Name>Program software identification</Name>
                <Type>DT1F56</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1F57</Index>
                <Name>Flash status identification</Name>
                <Type>DT1F57</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Program number 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Node-ID</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>RS232 bit rate</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>5</DefaultValue>
                </Info>
                <Flags>
                  <Access WriteRestrictions="PreOP">rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>RS232 frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>USB frame timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Active fieldbus</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>Additional identity</Name>
                <Type>DT2100</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number complete</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>Extension 1 identity</Name>
                <Type>DT2101</Type>
                <BitSize>152</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 software version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 hardware version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 application version</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 serial number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Extension 1 type</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x210C</Index>
                <Name>Custom persistent memory</Name>
                <Type>DT210C</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Custom persistent memory 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2200</Index>
                <Name>Power supply</Name>
                <Type>DT2200</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal valid logic supply</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x2201</Index>
                <Name>Power supply supervision</Name>
                <Type>DT2201</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply undervoltage limit</Name>
                    <Info>
                      <MinValue>9000</MinValue>
                      <MaxValue>71000</MaxValue>
                      <DefaultValue>9000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Power supply overvoltage limit</Name>
                    <Info>
                      <DefaultValue>74000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2EC0</Index>
                <Name>Internal device control</Name>
                <Type>DT2EC0</Type>
                <BitSize>200</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal error control</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal CAN NMT state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader revision number</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal bootloader product code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal Extension communication error code</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ESM state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal LED Identification</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal debug state</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3000</Index>
                <Name>Axis configuration</Name>
                <Type>DT3000</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sensors configuration</Name>
                    <Info>
                      <DefaultValue>#x00100001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Control structure</Name>
                    <Info>
                      <DefaultValue>#x00010111</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Commutation sensors</Name>
                    <Info>
                      <DefaultValue>#x00000031</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Axis configuration miscellaneous</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main sensor resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max system speed</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3002</Index>
                <Name>Electrical system parameters</Name>
                <Type>DT3002</Type>
                <BitSize>64</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical resistance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Electrical inductance</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>65535</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3003</Index>
                <Name>Gear configuration</Name>
                <Type>DT3003</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction numerator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear reduction denominator</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>4294967295</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max gear input speed</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>100000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Gear miscellaneous configuration</Name>
                    <Info>
                      <MinValue>#x00000000</MinValue>
                      <MaxValue>#x00000001</MaxValue>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x301A</Index>
                <Name>Digital Hall sensor</Name>
                <Type>DT301A</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor type</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital Hall sensor pattern</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B1</Index>
                <Name>Home offset move distance</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B5</Index>
                <Name>Internal homing data</Name>
                <Type>DT30B5</Type>
                <BitSize>56</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal absolute home reference state</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30E0</Index>
                <Name>Standstill window configuration</Name>
                <Type>DT30E0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window</Name>
                    <Info>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window time</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Standstill window timeout</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3142</Index>
                <Name>Configuration of digital inputs</Name>
                <Type>DT3142</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>19</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 2 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 3 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital input 4 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3151</Index>
                <Name>Configuration of digital outputs</Name>
                <Type>DT3151</Type>
                <BitSize>40</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>16</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital output 2 configuration</Name>
                    <Info>
                      <DefaultValue>17</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>High-speed digital output 1 configuration</Name>
                    <Info>
                      <DefaultValue>255</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3158</Index>
                <Name>Holding brake parameters</Name>
                <Type>DT3158</Type>
                <BitSize>88</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake coupling time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake opening voltage (maximal)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Holding brake retaining voltage (reduced)</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>600</MaxValue>
                      <DefaultValue>240</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3161</Index>
                <Name>Configuration of analog inputs</Name>
                <Type>DT3161</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3163</Index>
                <Name>Analog input adjustment</Name>
                <Type>DT3163</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment offset</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 adjustment gain factor</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3170</Index>
                <Name>Analog input current set value properties</Name>
                <Type>DT3170</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value first current</Name>
                    <Info>
                      <MinValue>-40000</MinValue>
                      <MaxValue>40000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current set value second current</Name>
                    <Info>
                      <MinValue>-40000</MinValue>
                      <MaxValue>40000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3171</Index>
                <Name>Analog input velocity set value properties</Name>
                <Type>DT3171</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value first velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second voltage</Name>
                    <Info>
                      <MinValue>-10000</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity set value second velocity</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3181</Index>
                <Name>Configuration of analog outputs</Name>
                <Type>DT3181</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 configuration</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 configuration</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E0</Index>
                <Name>Internal data recorder variable index</Name>
                <Type>DT31E0</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 1</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 2</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 3</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder variable index 4</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E1</Index>
                <Name>Internal data recorder configuration</Name>
                <Type>DT31E1</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder sampling period</Name>
                    <Info>
                      <MinValue>40</MinValue>
                      <MaxValue>65534</MaxValue>
                      <DefaultValue>120</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder max number of samples</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>500</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E2</Index>
                <Name>Internal data recorder trigger</Name>
                <Type>DT31E2</Type>
                <BitSize>168</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger variable index</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mode</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger high value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger low value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger mask</Name>
                    <Info>
                      <DefaultValue>#xFFFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder trigger number of preceding samples</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>499</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E4</Index>
                <Name>Internal data recorder control</Name>
                <Type>DT31E4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder controlword</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder statusword</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x31E5</Index>
                <Name>Internal data recorder data</Name>
                <Type>DT31E5</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder number of recorded samples</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal recorder buffer timestamp</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder snapshot</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E6</Index>
                <Name>Internal data recorder buffer variable 1</Name>
                <Type>DT31E6</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 1 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E7</Index>
                <Name>Internal data recorder buffer variable 2</Name>
                <Type>DT31E7</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 2 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E8</Index>
                <Name>Internal data recorder buffer variable 3</Name>
                <Type>DT31E8</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 3 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x31E9</Index>
                <Name>Internal data recorder buffer variable 4</Name>
                <Type>DT31E9</Type>
                <BitSize>32016</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 complete</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal data recorder buffer variable 4 part 1</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <SdoAccess>SubIndexAccess</SdoAccess>
                </Flags>
              </Object>
              <Object>
                <Index>#x3201</Index>
                <Name>Thermal overload protection</Name>
                <Type>DT3201</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Temperature power stage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximal temperature power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>950</MaxValue>
                      <DefaultValue>950</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3240</Index>
                <Name>Internal test object</Name>
                <Type>DT3240</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal spi extension test</Name>
                    <Info>
                      <DefaultValue>#x00000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel A analog value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC encoder 2 channel B analog value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3241</Index>
                <Name>Internal motor control</Name>
                <Type>DT3241</Type>
                <BitSize>128</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>6</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset simultaneous phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase U</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase V</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal ADC current offset sequential phase W</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal electrical rotor angle</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3248</Index>
                <Name>Internal configuration electrical system tuning</Name>
                <Type>DT3248</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal LR identification frequency</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3249</Index>
                <Name>Internal parameters electrical system tuning</Name>
                <Type>DT3249</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Internal resistance</Name>
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                  <SubItem>
                    <Name>Internal inductance</Name>
                    <Info />
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                  <SubItem>
                    <Name>Internal frequency</Name>
                    <Info />
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                  <Access>ro</Access>
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                    <Name>Internal cut-off frequency of oscillation</Name>
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                    <Name>Internal target amplitude of oscillation</Name>
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                    <Name>Internal identify Km</Name>
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                    <Name>Internal proportional gain for dynamic friction</Name>
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                    <Name>Internal integral gain for dynamic friction</Name>
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                    <Name>Internal auxiliary target velocity</Name>
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                    <Name>Internal auxiliary profile acceleration</Name>
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                    <Name>Internal PRBS velocity tuning target amplitude</Name>
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              <MessageText>Internal software error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6320</TextId>
              <MessageText>Software parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x6380</TextId>
              <MessageText>Persistent parameter corrupt error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7320</TextId>
              <MessageText>Position sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7380</TextId>
              <MessageText>Position sensor breach error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7381</TextId>
              <MessageText>Position sensor resolution error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7382</TextId>
              <MessageText>Position sensor index error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7388</TextId>
              <MessageText>Hall sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7389</TextId>
              <MessageText>Hall sensor not found error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738A</TextId>
              <MessageText>Hall angle detection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738B</TextId>
              <MessageText>BiSS sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738C</TextId>
              <MessageText>SSI sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x738D</TextId>
              <MessageText>SSI sensor frame error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7390</TextId>
              <MessageText>Missing main sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7391</TextId>
              <MessageText>Missing commutation sensor error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x7392</TextId>
              <MessageText>Main sensor direction error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8110</TextId>
              <MessageText>CAN overrun error (object lost)</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8111</TextId>
              <MessageText>CAN overrun error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8120</TextId>
              <MessageText>CAN passive mode error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8130</TextId>
              <MessageText>CAN heartbeat error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8150</TextId>
              <MessageText>CAN PDO COB-ID collision</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8180</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8181</TextId>
              <MessageText>EtherCAT initialization error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8182</TextId>
              <MessageText>EtherCAT Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8183</TextId>
              <MessageText>EtherCAT communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8184</TextId>
              <MessageText>EtherCAT communication error cycle time error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FD</TextId>
              <MessageText>CAN bus turned off</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FE</TextId>
              <MessageText>CAN Rx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x81FF</TextId>
              <MessageText>CAN Tx queue overflow</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8210</TextId>
              <MessageText>CAN PDO length error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8250</TextId>
              <MessageText>RPDO timeout</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8280</TextId>
              <MessageText>EtherCAT PDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8281</TextId>
              <MessageText>EtherCAT SDO communication error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8611</TextId>
              <MessageText>Following error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A80</TextId>
              <MessageText>Negative limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A81</TextId>
              <MessageText>Positive limit switch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A82</TextId>
              <MessageText>Software position limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A88</TextId>
              <MessageText>STO error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8A</TextId>
              <MessageText>STO card ready warning</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#x8A8B</TextId>
              <MessageText>STO card inactive state error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF01</TextId>
              <MessageText>System overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF02</TextId>
              <MessageText>Watchdog error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF0B</TextId>
              <MessageText>System peak overloaded error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF10</TextId>
              <MessageText>Controller gain error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF11</TextId>
              <MessageText>Auto tuning identification error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF12</TextId>
              <MessageText>Auto tuning current limit error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF13</TextId>
              <MessageText>Auto tuning identification current error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF14</TextId>
              <MessageText>Auto tuning data sampling error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF15</TextId>
              <MessageText>Auto tuning sample mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF16</TextId>
              <MessageText>Auto tuning parameter error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF17</TextId>
              <MessageText>Auto tuning amplitude mismatch error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF19</TextId>
              <MessageText>Auto tuning timeout error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF20</TextId>
              <MessageText>Auto tuning standstill error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF21</TextId>
              <MessageText>Auto tuning torque invalid error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF22</TextId>
              <MessageText>Auto tuning max system speed error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF23</TextId>
              <MessageText>Auto tuning motor connection error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFF24</TextId>
              <MessageText>Auto tuning sensor signal error</MessageText>
            </DiagMessage>
            <DiagMessage>
              <TextId>#xFFFF</TextId>
              <MessageText>Last dummy error</MessageText>
            </DiagMessage>
          </DiagMessages>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="48" MaxSize="48" DefaultSize="48" StartAddress="#x1030" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1060" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x10f0" ControlByte="#x20" Enable="1">Inputs</Sm>
        <RxPdo Fixed="false" Sm="2" OverwrittenByModule="true">
          <Index>#x1600</Index>
          <Name>Output mapping 1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1601</Index>
          <Name>Output mapping 2</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1602</Index>
          <Name>Output mapping 3</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1603</Index>
          <Name>Output mapping 4</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Sm="3" OverwrittenByModule="true">
          <Index>#x1A00</Index>
          <Name>Input mapping 1</Name>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A01</Index>
          <Name>Input mapping 2</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A02</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A02</Index>
          <Name>Input mapping 3</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="false" OverwrittenByModule="true">
          <Index>#x1A03</Index>
          <Name>Input mapping 4</Name>
          <Exclude>#x1A00</Exclude>
          <Exclude>#x1A01</Exclude>
          <Exclude>#x1A02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" CompleteAccess="1" PdoAssign="1" PdoConfig="1" DiagHistory="1" SegmentedSdo="1" />
          <FoE />
        </Mailbox>
        <Dc>
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
          <OpMode>
            <Name>Synchron</Name>
            <Desc>SM-Synchron</Desc>
            <AssignActivate>#x000</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1 Factor="0">0</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
          </OpMode>
        </Dc>
        <Slots MaxSlotCount="1" SlotPdoIncrement="1" SlotIndexIncrement="0" DownloadModuleIdentList="true">
          <Slot MinInstances="1" MaxInstances="1">
            <Name>Axis 1</Name>
            <ModuleIdent Default="0">#x6100001C</ModuleIdent>
            <ModuleIdent Default="0">#x6300001C</ModuleIdent>
            <ModuleIdent Default="1">#x6800001C</ModuleIdent>
            <ModuleIdent Default="0">#x6900001C</ModuleIdent>
            <ModuleIdent Default="0">#x6A00001C</ModuleIdent>
          </Slot>
        </Slots>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>8006000488130100000000000000</ConfigData>
          <BootStrap>0010640064106400</BootStrap>
        </Eeprom>
        <ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00fffffffffff77777fffffffffff88887fffffffffff88887fffffffffff88c87fffffff0fff8ccc7f0000000fff88c878000000099f88c87f0000000fff88c87ffff0ff0fff88c87f0000ffffff88c87fffffffffff88c87fffffffffff88c87fffffffffff88887fffffffffff88887</ImageData16x14>
      </Device>
    </Devices>
    <Modules>
      <Module>
        <Type ModuleIdent="#x65010001">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x65030001">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x65080001">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x650A0001">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000001">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x63000001">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000001">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x69000001">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
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                    <PdoMapping>r</PdoMapping>
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                    <PdoMapping>r</PdoMapping>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <Name>Velocity observer position correction gain</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <Name>Velocity observer load correction gain</Name>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Internal velocity filter bandwidth correction factor</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Type>DT60FE</Type>
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                    <Name>Highest sub-index supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
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            </Objects>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Name>CST Outputs</Name>
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          <Entry>
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            <InitCmd>
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              <SubIndex>0</SubIndex>
              <Data>0A</Data>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
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                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
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                <Index>#x3200</Index>
                <Name>Motor protection</Name>
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                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
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                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
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                <Index>#x603F</Index>
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                  <Access>rw</Access>
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                  <Access>rw</Access>
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                <Index>#x606B</Index>
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                <Index>#x6071</Index>
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                  <Access>rw</Access>
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                <Index>#x6077</Index>
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              <Object>
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                <Type>DT607B</Type>
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                    <Info />
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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              <Object>
                <Index>#x607D</Index>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x6081</Index>
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                  <Access>rw</Access>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6086</Index>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                <Index>#x609A</Index>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B1</Index>
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                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                  <SubItem>
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                    <Name>Interpolation time period value</Name>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                <Index>#x60C5</Index>
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                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
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              <Object>
                <Index>#x60E5</Index>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
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                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info />
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
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                <Info />
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
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                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x63000002">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
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            <Index>#x6040</Index>
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            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
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            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
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          <Entry>
            <Index>#x60FE</Index>
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            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
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        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
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            <Name>Statusword</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
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          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
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                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
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              </DataType>
              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
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                  <Name>Flags</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Torque constant</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>SSI power up time</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Type>UDINT</Type>
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                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT60FE</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
              </DataType>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
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            <Name>Controlword</Name>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x60FE</Index>
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        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
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            <Name>Statusword</Name>
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          <Entry>
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          <Entry>
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            <Index>#x6077</Index>
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          <Entry>
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          <Entry>
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            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
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                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
                <Name>BOOL</Name>
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              <DataType>
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              </DataType>
              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Type>USINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
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                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
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                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <PdoMapping>T</PdoMapping>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                    <Info />
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                  <SubItem>
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                <Name>Target velocity</Name>
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              <Object>
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                <Name>Supported drive modes</Name>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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      <Module>
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              <SubIndex>0</SubIndex>
              <Data>09</Data>
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              <DataType>
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                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000002">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>224</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis history</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>224</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info />
                <Flags>
                  <Access>ro</Access>
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                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
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              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <DefaultValue>1000</DefaultValue>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <Access>rw</Access>
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                <Index>#x6099</Index>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6099</Index>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                <Index>#x60B0</Index>
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                <SubItem>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
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                <Index>#x10F3</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
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                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Output current limit</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
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                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
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                  <SubItem>
                    <Name>Torque constant</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
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                <Name>SSI absolute encoder</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
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                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <DefaultValue>2000</DefaultValue>
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                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>#x00000C00</DefaultValue>
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                  <SubItem>
                    <Name>SSI encoding type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                    <Name>SSI timeout time</Name>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>SSI position bits</Name>
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                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
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                      <MinValue>16</MinValue>
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                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
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                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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                <Index>#x30A1</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>5</DefaultValue>
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                    <Name>Position controller P gain</Name>
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                      <DefaultValue>1500000</DefaultValue>
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                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
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                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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              <Object>
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                <Info>
                  <SubItem>
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                      <DefaultValue>5</DefaultValue>
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                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
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                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
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                <Flags>
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              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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              <Object>
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                  <SubItem>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                <Flags>
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              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital inputs logic state</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
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              <Object>
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                  <SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
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              <Object>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3182</Index>
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                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
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                <Type>UINT</Type>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6064</Index>
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                <Index>#x6066</Index>
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                <Index>#x606B</Index>
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              <Object>
                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6077</Index>
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                <Index>#x607A</Index>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position range limit</Name>
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                  <SubItem>
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              <Object>
                <Index>#x607D</Index>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                <Index>#x6080</Index>
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                <Index>#x6081</Index>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6083</Index>
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                <Info>
                  <MinValue>1</MinValue>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                  <MinValue>1</MinValue>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <SubItem>
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                      <MinValue>-4000</MinValue>
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              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
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                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x603F</Index>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Index>#x6060</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6066</Index>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x607B</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
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                </Info>
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              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                  <Access>rw</Access>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x60B0</Index>
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                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
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                <Index>#x60C5</Index>
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                  <MinValue>1</MinValue>
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                  <Access>rw</Access>
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                <Index>#x60D5</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60D6</Index>
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                  <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x60E4</Index>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
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            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
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                <Name>STRING(5)</Name>
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                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
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                    <Info>
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                    <Name>Maximum messages</Name>
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                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000004">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
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        <Profile>
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          <Dictionary>
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                  <Name>Newest acknowledged message</Name>
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                  <Name>New messages available</Name>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 4</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                  <Name>Output current limit</Name>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Thermal time constant winding</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Torque constant</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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              <DataType>
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                <BitSize>96</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>SSI timeout time</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI power up time</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000005">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
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                  <Name>Maximum messages</Name>
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                  <Flags>
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                  <Name>Newest message</Name>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                <SubItem>
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                  <Name>New messages available</Name>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 4</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
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                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
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                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
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              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>SSI special bits trailing data</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x63000005">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
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          <Entry>
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        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
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              <Data>03</Data>
              <Comment>Op mode</Comment>
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                  <Flags>
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                <SubItem>
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                  <Name>Maximum messages</Name>
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                  <Flags>
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                <SubItem>
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                  <Name>Newest message</Name>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                <SubItem>
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                  <Name>New messages available</Name>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 4</Name>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Output current limit</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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              <DataType>
                <Name>DT3010</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT3011</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                <SubItem>
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                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Name>SSI special bits trailing data</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000005">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                    <Info>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
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                    <Name>Torque constant</Name>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x69000005">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
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                <SubItem>
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                    <Access>rw</Access>
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                    <Access>rw</Access>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
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                  <SubItem>
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                    <Name>Nominal current</Name>
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                    <Name>Torque constant</Name>
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                    <Name>SSI commutation offset value</Name>
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                  <SubItem>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000005">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
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                    <Name>Newest message</Name>
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                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x61000006">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
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            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
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            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
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          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
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            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
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        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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            <Index>#x6041</Index>
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            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
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          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
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              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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                  <Elements>1</Elements>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
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              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
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                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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              <DataType>
                <Name>DT3001</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
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                    <Info>
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                  <SubItem>
                    <Name>Newest message</Name>
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                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                  <SubItem>
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                    <Name>Diagnosis message 3</Name>
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                    <Name>Diagnosis message 4</Name>
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                    <Info>
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                  <SubItem>
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                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                    <Name>SSI position raw value</Name>
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
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                    <Name>SSI position bits</Name>
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                    <Info />
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x63000006">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
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                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
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              <DataType>
                <Name>DINT</Name>
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              </DataType>
              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
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                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <Access>rw</Access>
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                    <Info>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                    <Name>Flags</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
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                  <SubItem>
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                    <Name>Number of pole pairs</Name>
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                    <Name>Torque constant</Name>
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                  <SubItem>
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                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                    <Name>SSI commutation offset value</Name>
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                  <SubItem>
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                    </Info>
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                  <SubItem>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    </Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000006">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT3200</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <SubItem>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT607D</Name>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
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                    <Access>rw</Access>
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                    <Access>ro</Access>
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                <SubItem>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                  <SubItem>
                    <Name>Flags</Name>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
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                    <Name>Diagnosis message 2</Name>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
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                  <SubItem>
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                    <Info>
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                    <Name>Nominal current</Name>
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                    <Name>Number of pole pairs</Name>
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                    <Name>Torque constant</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
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                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>13</DefaultValue>
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                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <DefaultValue>2000</DefaultValue>
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                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                  <SubItem>
                    <Name>SSI encoding type</Name>
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                    <Name>SSI special bits trailing data</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
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                    <Name>SSI position bits</Name>
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                    <Info>
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                    <Info />
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                  <SubItem>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                  </SubItem>
                  <SubItem>
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              <Object>
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                <Name>Velocity control parameter set</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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              <Object>
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                    </Info>
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                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
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                    </Info>
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                <Type>DT30A4</Type>
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                <Info>
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                    </Info>
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                  <SubItem>
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                    </Info>
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                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x69000006">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>ULINT</Name>
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              </DataType>
              <DataType>
                <Name>DINT</Name>
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              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000006">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
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                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000007">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
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                <Index>#x30B0</Index>
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                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
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                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60FE</Index>
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                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
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                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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              <Object>
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                <BitSize>32</BitSize>
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                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x63000007">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
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          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
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          <Entry>
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          <Entry>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6061</Index>
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            <Name>Modes of operation display</Name>
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          <Entry>
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            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
                <Name>BOOL</Name>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <BitOffs>24</BitOffs>
                  <Flags>
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                </SubItem>
                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                <SubItem>
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                    <Backup>1</Backup>
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                <SubItem>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Torque constant</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                <SubItem>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                    <Backup>1</Backup>
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                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>SSI commutation offset value</Name>
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                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000007">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
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                  <Name>Digital incremental encoder 1 number of pulses</Name>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                    <PdoMapping>T</PdoMapping>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <Name>Current controller I gain</Name>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <BitSize>8</BitSize>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <Name>Position controller FF velocity gain</Name>
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                  <Flags>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
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              </DataType>
              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Internal velocity filter bandwidth correction factor</Name>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                    <Name>Diagnosis message 3</Name>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <Index>#x6041</Index>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Flags>
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                <Index>#x6060</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
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                <Index>#x6062</Index>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x606B</Index>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6099</Index>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                </Info>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <BitSize>32</BitSize>
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                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Name>Supported drive modes</Name>
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                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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          <Name>CST Outputs</Name>
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            <Index>#x6071</Index>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6077</Index>
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            <InitCmd>
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              <DataType>
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              <DataType>
                <Name>UINT</Name>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>144</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level controller</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>144</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Motor protection</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>I2t level controller</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error timeout</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe position 1 positive value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe position 1 negative value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000008">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000008">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
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                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>10</DefaultValue>
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                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
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                    <Info>
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                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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                  </SubItem>
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              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000008">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
                <Name>DT1C12ARR</Name>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
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              <DataType>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
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                  <BitOffs>24</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                  <BitOffs>192</BitOffs>
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                <SubItem>
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                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                      <DefaultValue>10</DefaultValue>
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                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
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              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
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                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                <BitSize>208</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
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                <BitSize>32</BitSize>
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                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
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                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x63000009">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
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          <Name>PVM Outputs</Name>
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            <Name>Controlword</Name>
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          <Entry>
            <Index>#x60FF</Index>
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          <Entry>
            <Index>#x6084</Index>
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            <BitLen>32</BitLen>
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            <Index>#x6060</Index>
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            <Name>Mode of operation</Name>
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          <Entry>
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            <DataType>UDINT</DataType>
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        <TxPdo Fixed="false" Mandatory="false" Sm="3">
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
                <Name>BOOL</Name>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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              <DataType>
                <Name>DT1C00ARR</Name>
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                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                <SubItem>
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                <SubItem>
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                  <Name>SM-event missed</Name>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Type>BOOL</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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              <DataType>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Number of pole pairs</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Thermal time constant winding</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Index>#x6077</Index>
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              <Object>
                <Index>#x6099</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
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                <Index>#x60B0</Index>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
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                    <Info>
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                    <Name>Newest message</Name>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
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                <Name>Supported drive modes</Name>
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                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x69000009">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
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          <Name>CSV Outputs</Name>
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          <Entry>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
            <Index>#x6077</Index>
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            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
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          <Entry>
            <Index>#x6061</Index>
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            <Name>Mode of operation display</Name>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
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            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
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        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
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              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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                <Name>BOOL</Name>
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                <Name>UINT</Name>
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              <DataType>
                <Name>BYTE</Name>
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                <Name>DT1C00ARR</Name>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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                <SubItem>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Diagnosis message 1</Name>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
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                  <BitOffs>0</BitOffs>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
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                  <Name>Delay time</Name>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Type>BOOL</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
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                  <Flags>
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                    <Backup>1</Backup>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Torque constant</Name>
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                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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              <DataType>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
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                <Type>DT3020</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>600</DefaultValue>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>100</DefaultValue>
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              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B2</Index>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D3</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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              <Object>
                <Index>#x3150</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3182</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6040</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
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                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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              <Object>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                  <MinValue>1</MinValue>
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                  <Access>rw</Access>
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                  <Access>rw</Access>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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              <Object>
                <Index>#x6085</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6099</Index>
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                <Type>DT6099</Type>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
                <Name>Position offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Name>Interpolation time period</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
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                  <DefaultValue>0</DefaultValue>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
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                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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          <Entry>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6100000A">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
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              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Current controller P gain</Name>
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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                <Index>#x30A1</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
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                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x30A3</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                </Info>
                <Flags>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                  <SubItem>
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                    <Info>
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                    <Name>Current actual value averaged</Name>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x30D3</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                    <Info />
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                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
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                <Info>
                  <SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
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                  </SubItem>
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                <Flags>
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                  <SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
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                  <DefaultValue>#x0040</DefaultValue>
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              </Object>
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                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6064</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
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                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
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                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
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                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
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            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                  <Access>ro</Access>
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              <Object>
                <Index>#x1C33</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                    <Name>Synchronization types supported</Name>
                    <Info />
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                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
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                  <Access>ro</Access>
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>15000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
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                <Name>SSI absolute encoder</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <DefaultValue>2000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>#x00000C00</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
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                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
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              <Object>
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                <Name>Velocity control parameter set</Name>
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                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <MinValue>1</MinValue>
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                </Info>
              </Object>
              <Object>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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                  </SubItem>
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              <Object>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info>
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              </Object>
              <Object>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
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                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
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                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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                <Info>
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                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
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                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
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                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30D0</Index>
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                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
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              </Object>
              <Object>
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                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
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                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6800000A">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                <BitSize>560</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x30B2</Index>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Current actual value averaged</Name>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                    <Info>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                    <Info />
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                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
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                <Flags>
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                    <Info>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Analog output general purpose B</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                  </SubItem>
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                <Flags>
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                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
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                <Index>#x6041</Index>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6062</Index>
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6065</Index>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6066</Index>
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                <Flags>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x607A</Index>
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                <Index>#x607B</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                </Info>
              </Object>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Info />
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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                <Name>Profile acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Name>Touch probe function</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D6</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                  <DefaultValue>#x0</DefaultValue>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
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                      <DefaultValue>#x0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>#x00000000</DefaultValue>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Entry>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                  <BitOffs>176</BitOffs>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                  <BitOffs>192</BitOffs>
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                <SubItem>
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                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A00000A">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
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            <InitCmd>
              <Transition>PS</Transition>
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              <Data>0A</Data>
              <Comment>Op mode</Comment>
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                  <Name>Newest acknowledged message</Name>
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                <SubItem>
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                  <Name>New messages available</Name>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Name>Diagnosis message 1</Name>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 4</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                  <Flags>
                    <Access>ro</Access>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
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                <SubItem>
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                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
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                <SubItem>
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                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Name>Sync error</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Nominal current</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
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                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3150</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Analog input general purpose B</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
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                <Index>#x3200</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                      <MinValue>0</MinValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x603F</Index>
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                <Info>
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                <Index>#x6040</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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                <Index>#x6041</Index>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
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                <Flags>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6062</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6064</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6071</Index>
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                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x607A</Index>
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                  <Access>rw</Access>
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                <Index>#x607B</Index>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Info />
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Info>
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                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6100000B">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
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          <Name>PPM Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
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            <Name>Controlword</Name>
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            <Index>#x607A</Index>
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            <Index>#x6083</Index>
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            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6081</Index>
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          <Entry>
            <Index>#x6060</Index>
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            <Index>#x60FE</Index>
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        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
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          <Entry>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
            <Index>#x60F4</Index>
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            <Name>Following error actual value</Name>
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          <Entry>
            <Index>#x6061</Index>
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          <Entry>
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            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>01</Data>
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              </DataType>
              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                  <Elements>2000</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x3200</Index>
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                <Type>DT3200</Type>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
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                  <DefaultValue>#x0000</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6040</Index>
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                <Index>#x6041</Index>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6300000B">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
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                  <Name>Cycle time too small</Name>
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                    <Backup>1</Backup>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                  <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                    <Backup>1</Backup>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
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                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Name>Analog incremental encoder index position</Name>
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                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <Flags>
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                    <Backup>1</Backup>
                  </Flags>
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                  <Name>SSI special bits trailing data</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                  <Name>SSI power up time</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                  <Name>SSI position raw value</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>SSI commutation offset value</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
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                  <Name>SSI position bits</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
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                  <Name>SSI special bits leading data</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
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                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
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                  <Name>Highest sub-index supported</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                    <Info>
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                  <SubItem>
                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                    <Name>Diagnosis message 1</Name>
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                    <Name>Diagnosis message 2</Name>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
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                  <SubItem>
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                    <Info>
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                    <Name>Calc and copy time</Name>
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                  <SubItem>
                    <Name>Sync error</Name>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                <BitSize>560</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x603F</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6040</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
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                <Index>#x6041</Index>
                <Name>Statusword</Name>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6067</Index>
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                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
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                <Type>DT607B</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
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              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6800000B">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target position</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
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            <DataType>UDINT</DataType>
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        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
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          <Entry>
            <Index>#x6061</Index>
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            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                </ArrayInfo>
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              <DataType>
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                <BaseType>UINT</BaseType>
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                  <Elements>1</Elements>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
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                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
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                  <Elements>288</Elements>
                </ArrayInfo>
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                <Name>SINT</Name>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3001</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
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                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
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                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
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              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>#x00080004</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
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                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x3020</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x30A1</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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              </Object>
              <Object>
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                <Name>Velocity observer parameter set</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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              <Object>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
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                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <DefaultValue>500</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              <Object>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
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              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                <Flags>
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              </Object>
              <Object>
                <Index>#x30D3</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              </Object>
              <Object>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
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              </Object>
              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3182</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
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                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
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                  <Access>ro</Access>
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              <Object>
                <Index>#x603F</Index>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x607B</Index>
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                <Type>DT607B</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x60B0</Index>
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                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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              <Object>
                <Index>#x60D6</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>#x00000000</DefaultValue>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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        <Name>Cyclic Synchronous Velocity Mode</Name>
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          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
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            <Name>Statusword</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
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            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
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            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
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          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
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                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A00000B">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
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                <Name>Modes of operation display</Name>
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                <Index>#x6064</Index>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MaxValue>0</MaxValue>
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                  <Access>rw</Access>
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                <Index>#x6067</Index>
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                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x606C</Index>
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                  <Access>ro</Access>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x607A</Index>
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              <Object>
                <Index>#x607D</Index>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Index>#x6080</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x6081</Index>
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                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6083</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <Access>rw</Access>
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                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6300000C">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6800000C">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
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              </DataType>
              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current controller P gain</Name>
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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                <Index>#x30A1</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <MinValue>1</MinValue>
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                <Name>Velocity observer parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B2</Index>
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                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
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                  <SubItem>
                    <Name>Current actual value</Name>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Name>Analog input properties</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3182</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
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                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
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                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x603F</Index>
                <Name>Error code</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6040</Index>
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                  <DefaultValue>#x0000</DefaultValue>
                </Info>
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                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
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              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
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                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
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              <Object>
                <Index>#x607F</Index>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Name>Supported drive modes</Name>
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                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Name>CSV Outputs</Name>
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          <Entry>
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          <Entry>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
            <Index>#x6077</Index>
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            <InitCmd>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>5</SubIdx>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
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                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                      <DefaultValue>10</DefaultValue>
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              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6100000D">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Type>USINT</Type>
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                    <Info>
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                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                    <Name>Diagnosis message 1</Name>
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                    <Name>Diagnosis message 2</Name>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
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                  <SubItem>
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                    <Info>
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                    <Name>Sync error</Name>
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                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                    <Name>Digital incremental encoder 1 type</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>13</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6300000D">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
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                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
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                  <Elements>20</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              <DataType>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
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                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
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                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>24000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>100</DefaultValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x30B2</Index>
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                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Name>Digital output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
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                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x603F</Index>
                <Name>Error code</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6040</Index>
                <Name>Controlword</Name>
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                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6041</Index>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
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                <Name>Supported drive modes</Name>
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                  <DefaultValue>#x00000000</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
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            <Name>Statusword</Name>
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          <Entry>
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          <Entry>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>24000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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              <Object>
                <Index>#x6064</Index>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MaxValue>0</MaxValue>
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                <Index>#x6067</Index>
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                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x6068</Index>
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                  <Access>rw</Access>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6077</Index>
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                <Index>#x607A</Index>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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              <Object>
                <Index>#x607D</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Name>Max motor speed</Name>
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                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BA</Index>
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                  <Access>ro</Access>
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                <Index>#x60BB</Index>
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                  <SubItem>
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                  <SubItem>
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                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A00000D">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
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                    <Info>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6100000E">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>12000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>36000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
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                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                    <Name>Velocity controller FF velocity gain</Name>
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                    <Name>Velocity controller FF acceleration gain</Name>
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                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Velocity observer position correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                    <Name>Velocity observer load correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <Info>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
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                    <Name>Main loop P gain low bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                    <Name>Auxiliary loop P gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                    <Name>Dual loop configuration miscellaneous</Name>
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                  <SubItem>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                    <Info>
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                    <Info />
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info />
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                    <Info>
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                    <Info />
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                    <Info>
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                <Flags>
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                    <Info>
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                    <Info />
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                <Flags>
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                  <SubItem>
                    <Name>I2t level motor</Name>
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                  </SubItem>
                  <SubItem>
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                <Flags>
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                  <SubItem>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Index>#x6060</Index>
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                <Index>#x6064</Index>
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                <Index>#x6065</Index>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x6066</Index>
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                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x606B</Index>
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                <Flags>
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                <Index>#x606C</Index>
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                <Index>#x6071</Index>
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                <Index>#x6077</Index>
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                <Index>#x607A</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Info />
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6080</Index>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>10000</DefaultValue>
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                <Name>Profile deceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
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                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60BA</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                  <DefaultValue>0</DefaultValue>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D6</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                      <DefaultValue>#x0</DefaultValue>
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                  <DefaultValue>#x00000000</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>12000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>36000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
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              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>36000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                </Info>
              </Object>
              <Object>
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                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
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              <Object>
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                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6900000E">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
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          <Entry>
            <Index>#x60FF</Index>
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            <Name>Target velocity</Name>
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          <Entry>
            <Index>#x60B1</Index>
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            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
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          <Entry>
            <Index>#x60FE</Index>
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            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
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            <Index>#x6041</Index>
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          <Entry>
            <Index>#x6064</Index>
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            <Name>Position actual value</Name>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
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                <Name>UINT</Name>
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              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
                <Name>DT1C12ARR</Name>
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                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                  <Elements>20</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
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                  <Elements>2000</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
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                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>36000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A00000E">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
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              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT60E4</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <BitOffs>80</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <Name>DT60E5</Name>
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                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
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            </DataTypes>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>12000</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <DefaultValue>36000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
              </Object>
              <Object>
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                <Name>Digital incremental encoder 1</Name>
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                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
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                <Index>#x30A2</Index>
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                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>5</DefaultValue>
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                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                    <Name>Dual loop configuration miscellaneous</Name>
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                      <MinValue>#x0000</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                <Name>Current actual values</Name>
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                  <SubItem>
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                    <Name>Current actual value averaged</Name>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
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                <Flags>
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                    <Info>
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                <Flags>
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                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                    <Name>I2t level motor</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                <Flags>
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                <Name>Motor control</Name>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
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                <Index>#x6060</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6064</Index>
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                <Index>#x6065</Index>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6066</Index>
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                <Index>#x6067</Index>
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                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                <Index>#x606C</Index>
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                <Index>#x6071</Index>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607A</Index>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                </Info>
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                <Index>#x607D</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Info />
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6081</Index>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000010">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target position</Name>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
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            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
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            <DataType>UDINT</DataType>
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        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
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          <Entry>
            <Index>#x60F4</Index>
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            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
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                <Name>UDINT</Name>
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              </DataType>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>USINT</BaseType>
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              <DataType>
                <Name>DT1C12ARR</Name>
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              <DataType>
                <Name>DT1C13ARR</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                  <Elements>20</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
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                  <Elements>2000</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
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              <DataType>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
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              <DataType>
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                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x63000010">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PVM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Velocity observer position correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <Info>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                    <Name>Auxiliary loop P gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                    <Name>Dual loop configuration miscellaneous</Name>
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                      <MinValue>#x0000</MinValue>
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                <Info>
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                  <SubItem>
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                <Name>Torque actual values</Name>
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                    <Info>
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                    <Info />
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                  <SubItem>
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                    <Info>
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                    <Info />
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                    <Name>Digital inputs logic state</Name>
                    <Info />
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                <Info>
                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info>
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                <Flags>
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                    <Info>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
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                <Flags>
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                  <SubItem>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Index>#x6061</Index>
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                <Index>#x6062</Index>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6066</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x606C</Index>
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                <Flags>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607B</Index>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
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                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
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                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x607D</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Info>
                  <MinValue>1</MinValue>
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                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D6</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                  <Access>ro</Access>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                <Name>Digital outputs</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x0</DefaultValue>
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                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>#x00000000</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Entry>
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          <Entry>
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          <Entry>
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            <InitCmd>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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                  <Flags>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT3011</Name>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>SSI data rate</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
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                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>DINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT607D</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>DINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT6099</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <BitOffs>24</BitOffs>
                  <Flags>
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                    <PdoMapping>r</PdoMapping>
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                <Name>DT60E4</Name>
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                <SubItem>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                <Name>DT60E5</Name>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                <SubItem>
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                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                <Name>DT60FE</Name>
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                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>New messages available</Name>
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
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                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
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                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
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                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
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              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3162</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3182</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x603F</Index>
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                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x607B</Index>
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                <Type>DT607B</Type>
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                  <SubItem>
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                <Index>#x607C</Index>
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              <Object>
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                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                <Index>#x6081</Index>
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                  <Access>rw</Access>
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                <Index>#x6085</Index>
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                  <MinValue>1</MinValue>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6099</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x60B9</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Info>
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                    <Name>Newest message</Name>
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              <Object>
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                  <SubItem>
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                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000011">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
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                  <Name>Flags</Name>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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              <DataType>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT1C33</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
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                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000011">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6068</Index>
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                  <Access>rw</Access>
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                <Index>#x606B</Index>
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                <Index>#x606C</Index>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607A</Index>
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                <Index>#x607B</Index>
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                    <Name>Min position range limit</Name>
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                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
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              <Object>
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                      <DefaultValue>2</DefaultValue>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                  <MinValue>1</MinValue>
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                <Index>#x6081</Index>
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                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6083</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                <Index>#x6084</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x6085</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                  <DefaultValue>7</DefaultValue>
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                <Index>#x6099</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Info>
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                    <Name>Newest message</Name>
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                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000011">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
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              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
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              <DataType>
                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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              <Object>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3182</Index>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
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                  <DefaultValue>#x0000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
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                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
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                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000017">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target position</Name>
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          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
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            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
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          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
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              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>UINT</BaseType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
                <Name>SINT</Name>
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                <Name>DT10F3</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT607D</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <Name>DT6099</Name>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT60C2</Name>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT60E4</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                <Name>DT60FE</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                  <SubItem>
                    <Name>New messages available</Name>
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
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                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Calc and copy time</Name>
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                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
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                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
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                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
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              <Object>
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                <Type>DT3001</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <DefaultValue>40</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                      <DefaultValue>500</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                  <SubItem>
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              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
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                      <MinValue>1</MinValue>
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                  <SubItem>
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                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>13</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <DefaultValue>2000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                      <DefaultValue>#x00000C00</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
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                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
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                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits leading data</Name>
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                  <SubItem>
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                <Type>DT3020</Type>
                <BitSize>96</BitSize>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
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                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
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                  <SubItem>
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                      <DefaultValue>9</DefaultValue>
                    </Info>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
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                    </Info>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                    </Info>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>33</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                      <MinValue>1</MinValue>
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                <BitSize>560</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x30B2</Index>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
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                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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              <Object>
                <Index>#x3150</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                </Info>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3202</Index>
                <Name>Functional safety</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
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                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x603F</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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                <Index>#x6041</Index>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MinValue>0</MinValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6071</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6077</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x607B</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                  </SubItem>
                  <SubItem>
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                </Info>
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                  <DefaultValue>#x00</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x607D</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                <Info>
                  <MinValue>1</MinValue>
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                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6081</Index>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>10000</DefaultValue>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6085</Index>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6086</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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                  </SubItem>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x63000017">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
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            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6060</Index>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
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            <DataType>UDINT</DataType>
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        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
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            <Name>Modes of operation display</Name>
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          <Entry>
            <Index>#x60FD</Index>
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            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
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        <Mailbox>
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            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
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        </Mailbox>
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                <Name>UDINT</Name>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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                <ArrayInfo>
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                </ArrayInfo>
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              <DataType>
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                <BaseType>USINT</BaseType>
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              <DataType>
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                  <Elements>1</Elements>
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              <DataType>
                <Name>DT1C13ARR</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <Elements>2000</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
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              <DataType>
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              <DataType>
                <Name>DT10F3</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              <DataType>
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                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x68000017">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
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            <InitCmd>
              <Transition>PS</Transition>
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                  <Name>New messages available</Name>
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                    <PdoMapping>T</PdoMapping>
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                    <Backup>1</Backup>
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                  <Name>Diagnosis message 1</Name>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>Delay time</Name>
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                  <Name>SM-event missed</Name>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                <SubItem>
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                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                  <Name>Sync error</Name>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Nominal current</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Number of pole pairs</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
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                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT607D</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT6099</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT60E4</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              </DataType>
              <DataType>
                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
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              <DataType>
                <Name>DT60FE</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
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                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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              </Object>
              <Object>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
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              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
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                  <SubItem>
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                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
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                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
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              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>600</DefaultValue>
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                <Index>#x30A3</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
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                <Index>#x30B2</Index>
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                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
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                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3141</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3150</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Analog input general purpose A</Name>
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
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                      <MinValue>-4000</MinValue>
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                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3202</Index>
                <Name>Functional safety</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                  <DefaultValue>#x0000</DefaultValue>
                </Info>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
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                <Flags>
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                <Index>#x6060</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6071</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x607B</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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              </Object>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
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                <Info />
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
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                <Name>Profile acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60B0</Index>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60D5</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D6</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                  <DefaultValue>#x0</DefaultValue>
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                <Name>Digital outputs</Name>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                    <Name>Physical outputs</Name>
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                      <DefaultValue>#x0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Name>Supported drive modes</Name>
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                  <DefaultValue>#x00000000</DefaultValue>
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                  <PdoMapping>T</PdoMapping>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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          <Entry>
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                <BaseType>BYTE</BaseType>
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                  <Flags>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Type>UDINT</Type>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
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                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
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                <SubItem>
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                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
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                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000017">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
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              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>30000</MaxValue>
                      <DefaultValue>30000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
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                <Type>DT3010</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                    <Name>Velocity controller FF velocity gain</Name>
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                    <Name>Velocity controller FF acceleration gain</Name>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Velocity observer position correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <Info>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                    <Name>Auxiliary loop P gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                    <Name>Dual loop configuration miscellaneous</Name>
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                      <MinValue>#x0000</MinValue>
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                  <SubItem>
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                    <Info>
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                    <Info />
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                    <Name>Digital inputs logic state</Name>
                    <Info />
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                    <Info />
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                  <SubItem>
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                    <Info>
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                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                <Flags>
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                    <Info>
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                    <Info>
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                    <Info />
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                    <Info />
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                <Flags>
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                      <DefaultValue>2</DefaultValue>
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                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
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                <Flags>
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                      <DefaultValue>8</DefaultValue>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <Access>ro</Access>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6062</Index>
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                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6065</Index>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                <Index>#x6066</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x606B</Index>
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                <Flags>
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                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607B</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position range limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
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                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607D</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <MinValue>1</MinValue>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6099</Index>
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                <Type>DT6099</Type>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
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                  <Access>ro</Access>
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                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
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                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x63000018">PVM Mode</Type>
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        <Mailbox>
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            <InitCmd>
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              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                  <Type>UINT</Type>
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                <SubItem>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
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              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                </Info>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3182</Index>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
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              <Object>
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                      <DefaultValue>2</DefaultValue>
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                <Index>#x6081</Index>
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                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                  <MinValue>1</MinValue>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <DefaultValue>7</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
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                    <Info>
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                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x69000018">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
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            <DataType>UDINT</DataType>
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        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              </DataType>
              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
                <Name>DT1C12ARR</Name>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
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                  <Elements>1024</Elements>
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              <DataType>
                <Name>ULINT</Name>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                  <Name>New messages available</Name>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                    <Access>ro</Access>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Type>BOOL</Type>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>112</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>Nominal current</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Type>UINT</Type>
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                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1500</MaxValue>
                      <DefaultValue>1500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>4500</MaxValue>
                      <DefaultValue>4500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
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                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>24</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x61000019">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>PPM Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
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              <DataType>
                <Name>DT10F3</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
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                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
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                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                    <Name>Velocity controller FF acceleration gain</Name>
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                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Velocity observer position correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                      <DefaultValue>1</DefaultValue>
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                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
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                    <Name>Main loop P gain low bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                    <Name>Auxiliary loop P gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                    <Name>Auxiliary loop observer position correction gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                    <Name>Dual loop configuration miscellaneous</Name>
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                  <SubItem>
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                    <Info>
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                    <Info>
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                    <Info />
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                <Flags>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                  <SubItem>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Index>#x6064</Index>
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                <Index>#x6065</Index>
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                <Index>#x6066</Index>
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                  <DefaultValue>4294967295</DefaultValue>
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                <Index>#x606B</Index>
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                <Index>#x606C</Index>
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                <Index>#x6077</Index>
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                <Index>#x607A</Index>
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                  <SubItem>
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                  <SubItem>
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                <Index>#x607C</Index>
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              <Object>
                <Index>#x607D</Index>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                  <DefaultValue>1000</DefaultValue>
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              <Object>
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                <Name>Quick stop deceleration</Name>
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                  <MinValue>1</MinValue>
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                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>7</DefaultValue>
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              <Object>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B1</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Name>Touch probe function</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Name>Interpolation time period</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                  <Access>ro</Access>
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                <Index>#x60F4</Index>
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                  <DefaultValue>0</DefaultValue>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                <SubItem>
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                  <Name>Delay time</Name>
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                  <BitOffs>144</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              <Object>
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                <Name>Analog input properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6066</Index>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x607A</Index>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x607B</Index>
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                <Type>DT607B</Type>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MaxValue>0</MaxValue>
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              <Object>
                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                  <Access>rw</Access>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
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                  <MinValue>1</MinValue>
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                  <Access>rw</Access>
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                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <Info>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B1</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x69000019">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                    <Info>
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                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                    <Name>Diagnosis message 1</Name>
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                    <Name>Diagnosis message 2</Name>
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
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                  <SubItem>
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                    <Info>
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                    <Name>Sync error</Name>
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                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>SSI data rate</Name>
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                    <Name>SSI number of data bits</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>15000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A000019">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>0A</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              </DataType>
              <DataType>
                <Name>DT10F3</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>5000</MaxValue>
                      <DefaultValue>5000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>15000</MaxValue>
                      <DefaultValue>15000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Current controller P gain</Name>
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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                <Index>#x30A1</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
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                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
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                  <DefaultValue>0</DefaultValue>
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              <Object>
                <Index>#x30D1</Index>
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                  <SubItem>
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                    <Name>Current actual value averaged</Name>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                  <SubItem>
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                <Flags>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                  <Access>ro</Access>
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                <Info>
                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
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                    <Name>Analog input general purpose A</Name>
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                <Flags>
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                  <SubItem>
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                    <Info>
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                  </SubItem>
                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Analog output general purpose A</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                <Flags>
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                  <SubItem>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
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                <Index>#x6040</Index>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <DefaultValue>#x0001</DefaultValue>
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              </Object>
              <Object>
                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Flags>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6065</Index>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6066</Index>
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                  <MaxValue>0</MaxValue>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
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                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60B2</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                <SubItem>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>24000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
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              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
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                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6800001A">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT3203</Name>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT607B</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <SubItem>
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              <DataType>
                <Name>DT607D</Name>
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                    <Access>ro</Access>
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                <SubItem>
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                <Name>DT6099</Name>
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                <SubItem>
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                    <PdoMapping>r</PdoMapping>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>r</PdoMapping>
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                    <Info>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                    <Name>New messages available</Name>
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                    <Name>Diagnosis message 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
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                <Name>SYNC manager 2 parameter</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Sync error</Name>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <Name>SSI absolute encoder</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
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                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6900001A">CSV Mode</Type>
        <Name>Cyclic Synchronous Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B1</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSV Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
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        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
                <Name>DT1C12ARR</Name>
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                  <Elements>1</Elements>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                <ArrayInfo>
                  <LBound>0</LBound>
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              <DataType>
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              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                </SubItem>
                <SubItem>
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                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>24000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
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                    <Name>SSI position raw value</Name>
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>SSI position bits</Name>
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                      <DefaultValue>#x0000000C</DefaultValue>
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                    <Name>SSI special bits leading data</Name>
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                    <Name>SSI position raw value complete</Name>
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                <Index>#x30A0</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current controller P gain</Name>
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                  <SubItem>
                    <Name>Current controller I gain</Name>
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                    <Info>
                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
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                      <DefaultValue>1500000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
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                      <DefaultValue>#xFA040300</DefaultValue>
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                <Name>Velocity control parameter set</Name>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
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                      <DefaultValue>20000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller I gain</Name>
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                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                      <DefaultValue>400</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
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                <Info>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
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                <Name>Dual loop position control parameter set</Name>
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                    <Info>
                      <DefaultValue>64</DefaultValue>
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                    <Name>Main loop P gain low bandwidth</Name>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
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                      <MinValue>0</MinValue>
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                    <Name>Auxiliary loop P gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
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                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
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                      <DefaultValue>33</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
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                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
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                      <MinValue>#x0000</MinValue>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Info>
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                  <DefaultValue>500</DefaultValue>
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                </Info>
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              <Object>
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                <Info>
                  <SubItem>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                <Name>Torque actual values</Name>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
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                    <Info />
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                    <Name>Analog input general purpose B</Name>
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                <Flags>
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                  <SubItem>
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                    </Info>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Analog output general purpose A</Name>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
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                      <MinValue>0</MinValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
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                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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                  <SubItem>
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                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  </SubItem>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <DefaultValue>#x0001</DefaultValue>
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              <Object>
                <Index>#x6061</Index>
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                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
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                <Index>#x6062</Index>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x6066</Index>
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                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
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                  <PdoMapping>r</PdoMapping>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x6068</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
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              <Object>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
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                  <Access>rw</Access>
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                  <MinValue>1</MinValue>
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                <Index>#x6085</Index>
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                  <MinValue>1</MinValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6098</Index>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x6099</Index>
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                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
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                  <MinValue>1</MinValue>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B9</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60BB</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Interpolation time index</Name>
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                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>8000</MaxValue>
                      <DefaultValue>8000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>24000</MaxValue>
                      <DefaultValue>24000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>24000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6066</Index>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
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                  <Access>rw</Access>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6068</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x606C</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6071</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x607B</Index>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position range limit</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
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              <Object>
                <Index>#x607C</Index>
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                  <DefaultValue>#x00</DefaultValue>
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                  <Access>rw</Access>
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              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>2</DefaultValue>
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                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Index>#x6081</Index>
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                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6083</Index>
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                  <MinValue>1</MinValue>
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                  <Access>rw</Access>
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                <Index>#x6084</Index>
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                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6086</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Index>#x6098</Index>
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                  <DefaultValue>7</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                <Index>#x609A</Index>
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                <Index>#x60B0</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <DefaultValue>0</DefaultValue>
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                  <SubItem>
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                  <DefaultValue>0</DefaultValue>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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          <Entry>
            <Index>#x606C</Index>
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            <SubIndex>0</SubIndex>
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        </TxPdo>
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          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>01</Data>
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        </Mailbox>
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              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
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                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
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                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
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                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
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                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6300001B">PVM Mode</Type>
        <Name>Profile Velocity Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PVM Outputs</Name>
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            <Name>Controlword</Name>
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          <Entry>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
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          <Entry>
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        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>03</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
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              <DataType>
                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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                <Name>UINT</Name>
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                <Name>BYTE</Name>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                    <Backup>1</Backup>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <BitOffs>80</BitOffs>
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                <SubItem>
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                  <Type>UDINT</Type>
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                <SubItem>
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                <SubItem>
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                  </Flags>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                  <Flags>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT3203</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT607D</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <Name>DT6099</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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              <DataType>
                <Name>DT60C2</Name>
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                <SubItem>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <BitOffs>24</BitOffs>
                  <Flags>
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                    <PdoMapping>r</PdoMapping>
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                <Name>DT60E4</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT60FE</Name>
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                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Index>#x10F3</Index>
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                <Type>DT10F3</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>New messages available</Name>
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>12000</DefaultValue>
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                      <DefaultValue>36000</DefaultValue>
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                  <SubItem>
                    <Name>Number of pole pairs</Name>
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                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
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              <Object>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
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                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
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                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
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                  <SubItem>
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                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
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                  </SubItem>
                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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              </Object>
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                    <Info>
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                  </SubItem>
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                  <SubItem>
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              </Object>
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                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
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                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
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              </Object>
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                <Name>Velocity control parameter set</Name>
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                <Info>
                  <SubItem>
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                    <Info>
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                    </Info>
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                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <DefaultValue>600</DefaultValue>
                    </Info>
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              </Object>
              <Object>
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                <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>100</DefaultValue>
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                <Index>#x30AE</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                      <DefaultValue>10000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>100000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
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                      <MinValue>5000</MinValue>
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                      <DefaultValue>12500</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>1000</DefaultValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
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                      <MinValue>0</MinValue>
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                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
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                    </Info>
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                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x30B2</Index>
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                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
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                  <DefaultValue>500</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x30D0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x3182</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
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                      <DefaultValue>0</DefaultValue>
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              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
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                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
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                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x603F</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
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                <Index>#x6040</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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                <Index>#x6041</Index>
                <Name>Statusword</Name>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6062</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x6066</Index>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
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                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
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                <Index>#x6068</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                </Info>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x6071</Index>
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                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6077</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x607A</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
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                <Index>#x607B</Index>
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                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                </Info>
              </Object>
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                <Index>#x607C</Index>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                <Info />
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                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6080</Index>
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                <Info>
                  <MinValue>1</MinValue>
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                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
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                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60D6</Index>
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                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6800001B">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target position</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
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            <SubIndex>0</SubIndex>
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            <Name>Torque offset</Name>
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          <Entry>
            <Index>#x6060</Index>
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            <Name>Mode of operation</Name>
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          <Entry>
            <Index>#x60FE</Index>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
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            <Name>Statusword</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
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          <Entry>
            <Index>#x606C</Index>
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          <Entry>
            <Index>#x6077</Index>
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          <Entry>
            <Index>#x6061</Index>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
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        <Mailbox>
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            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
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                <Name>USINT</Name>
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              <DataType>
                <Name>STRING(5)</Name>
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                <Name>BYTE</Name>
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              <DataType>
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                <Name>DT1C13ARR</Name>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
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                  <LBound>0</LBound>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
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                  <Flags>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                    <Backup>1</Backup>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <Name>Calc and copy time</Name>
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                <SubItem>
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                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
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                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
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                  <Type>BOOL</Type>
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                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>12000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>36000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
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                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
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                  <SubItem>
                    <Name>SSI encoding type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>SSI timeout time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>SSI position bits</Name>
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                      <MinValue>6</MinValue>
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                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits leading data</Name>
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                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
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                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
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              <Object>
                <Index>#x30A1</Index>
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                <BitSize>208</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
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                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>600</DefaultValue>
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                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
                    </Info>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
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                      <DefaultValue>100</DefaultValue>
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                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
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                <Index>#x30B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x30B2</Index>
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                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>36000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
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                  <SubItem>
                    <Name>Current actual value</Name>
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                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              </Object>
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                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
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                <Name>Digital input properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
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                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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              </Object>
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                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  </SubItem>
                </Info>
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                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
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                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
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                <Index>#x603F</Index>
                <Name>Error code</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                </Flags>
              </Object>
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                <Index>#x6040</Index>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>tr</PdoMapping>
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              </Object>
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                <Index>#x6041</Index>
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                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
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                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Speed for switch search</Name>
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                      <DefaultValue>100</DefaultValue>
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                  <SubItem>
                    <Name>Speed for zero search</Name>
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                      <DefaultValue>10</DefaultValue>
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                <SubItem>
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                    <Backup>1</Backup>
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                <SubItem>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>12000</MaxValue>
                      <DefaultValue>12000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>36000</MaxValue>
                      <DefaultValue>36000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>36000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
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                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
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                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
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                  <DefaultValue>#x0040</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6A00001B">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Target torque</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CST Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
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          <Entry>
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                  <BitOffs>64</BitOffs>
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                    <Backup>1</Backup>
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                    <Access>ro</Access>
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                  <Flags>
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                    <Backup>1</Backup>
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                    <Backup>1</Backup>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
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                  <Name>SSI special bits leading data</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                  <Name>SSI position raw value complete</Name>
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                  <Flags>
                    <Access>ro</Access>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
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                  <Name>Current controller I gain</Name>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <Name>DT30A1</Name>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
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                <SubItem>
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                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
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                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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            </Objects>
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        </Profile>
        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6100001C">PPM Mode</Type>
        <Name>Profile Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>PPM Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
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            <Name>Target position</Name>
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            <Index>#x6083</Index>
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            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
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          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
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            <DataType>UDINT</DataType>
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        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60F4</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Following error actual value</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation display</Name>
            <DataType>SINT</DataType>
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          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>01</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
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              </DataType>
              <DataType>
                <Name>BOOL</Name>
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              <DataType>
                <Name>UINT</Name>
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              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
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                  <Elements>16</Elements>
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              <DataType>
                <Name>DT1C00ARR</Name>
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              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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              <DataType>
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                <BaseType>UINT</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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                  <Elements>2000</Elements>
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              <DataType>
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                <BaseType>BYTE</BaseType>
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              <DataType>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                  <Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                <SubItem>
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                  <Name>Newest acknowledged message</Name>
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                  <Flags>
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                <SubItem>
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                  <Name>New messages available</Name>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                  <Flags>
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                  <Flags>
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                <SubItem>
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                  <Name>Diagnosis message 2</Name>
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                  <Flags>
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                </SubItem>
                <SubItem>
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                  <BitSize>128</BitSize>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
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                  <Name>Diagnosis message 5</Name>
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                    <Access>ro</Access>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
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                <SubItem>
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                  <Type>UINT</Type>
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                <SubItem>
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                <SubItem>
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                <SubItem>
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                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <Name>SM-event missed</Name>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
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                <SubItem>
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                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
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                <SubItem>
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                  <Name>Cycle time too small</Name>
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                <SubItem>
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                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
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              <DataType>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Output current limit</Name>
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                  <Flags>
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                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Number of pole pairs</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>STO internal device state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>40000</MaxValue>
                      <DefaultValue>40000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO card status</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO internal device state</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
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                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>STO internal device state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO card status</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO internal device state</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
      <Module>
        <Type ModuleIdent="#x6800001C">CSP Mode</Type>
        <Name>Cyclic Synchronous Position Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CSP Outputs</Name>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Controlword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position offset</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B2</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque offset</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital outputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Fixed="false" Mandatory="false" Sm="3">
          <Index>#x1A00</Index>
          <Name>CSP Inputs</Name>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Torque actual value</Name>
            <DataType>INT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Mode of operation display</Name>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox>
          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Profile>
          <ProfileNo>402</ProfileNo>
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            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
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              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
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              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>ULINT</Name>
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              </DataType>
              <DataType>
                <Name>DINT</Name>
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              <DataType>
                <Name>INT</Name>
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              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>SINT</Name>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
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                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>STO internal device state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>40000</MaxValue>
                      <DefaultValue>40000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO card status</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO internal device state</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
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                  <DefaultValue>#x0000</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6040</Index>
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                  <DefaultValue>#x0000</DefaultValue>
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                  <PdoMapping>tr</PdoMapping>
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                  <DefaultValue>#x0040</DefaultValue>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
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                  <DefaultValue>#x0001</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
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                <Index>#x6062</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6064</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
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                <Index>#x6065</Index>
                <Name>Following error window</Name>
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                  <DefaultValue>2000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
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                <Index>#x6067</Index>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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                <Index>#x606B</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x6077</Index>
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                  <DefaultValue>0</DefaultValue>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x607A</Index>
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                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
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                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
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                </Info>
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              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
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                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
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                  <Access>rw</Access>
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                  <Backup>1</Backup>
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                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
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                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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                <Index>#x60B0</Index>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
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              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
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                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
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                <BitSize>112</BitSize>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
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                  <SubItem>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
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                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
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                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
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                  <Access>ro</Access>
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                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
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                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
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                      <DefaultValue>1</DefaultValue>
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                  <DefaultValue>#x00000000</DefaultValue>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
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        <Name>Cyclic Synchronous Velocity Mode</Name>
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          <Index>#x1600</Index>
          <Name>CSV Outputs</Name>
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        </RxPdo>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
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            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
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            <Name>Torque actual value</Name>
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            <SubIndex>0</SubIndex>
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            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
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        </TxPdo>
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          <CoE>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>09</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
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          <ProfileNo>402</ProfileNo>
          <Dictionary>
            <DataTypes>
              <DataType>
                <Name>UDINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>USINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>STRING(5)</Name>
                <BitSize>40</BitSize>
              </DataType>
              <DataType>
                <Name>BOOL</Name>
                <BitSize>1</BitSize>
              </DataType>
              <DataType>
                <Name>UINT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>BYTE</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..15] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>128</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>16</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>16</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1023] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>8192</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>1024</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ULINT</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <Name>DINT</Name>
                <BitSize>32</BitSize>
              </DataType>
              <DataType>
                <Name>INT</Name>
                <BitSize>16</BitSize>
              </DataType>
              <DataType>
                <Name>ARRAY [0..19] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>160</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>20</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..1999] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>16000</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>2000</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>ARRAY [0..287] OF BYTE</Name>
                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
                <ArrayInfo>
                  <LBound>0</LBound>
                  <Elements>288</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <Name>DT10F3</Name>
                <BitSize>704</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Maximum messages</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Newest message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>40</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Flags</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>216</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
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              <DataType>
                <Name>DT3203</Name>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
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              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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              <DataType>
                <Name>DT607D</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Access>rw</Access>
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                    <Backup>1</Backup>
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                <Name>DT6099</Name>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT60C2</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Name>DT60E4</Name>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                <Name>DT60E5</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
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                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>10</SubIdx>
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                    <PdoMapping>T</PdoMapping>
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                    <PdoMapping>T</PdoMapping>
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                <Name>DT60FE</Name>
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                  <Type>USINT</Type>
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                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
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                <Type>DT10F3</Type>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
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                  <SubItem>
                    <Name>Maximum messages</Name>
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                  <SubItem>
                    <Name>Newest message</Name>
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                  <SubItem>
                    <Name>Newest acknowledged message</Name>
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                      <DefaultValue>0</DefaultValue>
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                  <SubItem>
                    <Name>New messages available</Name>
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                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
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                  <SubItem>
                    <Name>Diagnosis message 1</Name>
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                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
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                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
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                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
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                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
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                  <SubItem>
                    <Name>Cycle time</Name>
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                  <SubItem>
                    <Name>Synchronization types supported</Name>
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                  <SubItem>
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                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
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                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
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                  <SubItem>
                    <Name>SM-event missed</Name>
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                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
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                  <Access>ro</Access>
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              <Object>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Calc and copy time</Name>
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                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Sync error</Name>
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              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
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                  <SubItem>
                    <Name>Nominal current</Name>
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                      <MinValue>0</MinValue>
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                    <Name>Number of pole pairs</Name>
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                  <SubItem>
                    <Name>Thermal time constant winding</Name>
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                      <DefaultValue>40</DefaultValue>
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                    <Name>Torque constant</Name>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
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                      <DefaultValue>4</DefaultValue>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
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                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
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                  <SubItem>
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              <Object>
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                  <SubItem>
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                      <DefaultValue>3</DefaultValue>
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                  <SubItem>
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                      <DefaultValue>#x0001</DefaultValue>
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                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>13</DefaultValue>
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                  <SubItem>
                    <Name>SSI data rate</Name>
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                      <DefaultValue>2000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>#x00000C00</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <DefaultValue>#x0001</DefaultValue>
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                  </SubItem>
                  <SubItem>
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                      <MinValue>0</MinValue>
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                      <DefaultValue>30</DefaultValue>
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                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI power up time</Name>
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                      <DefaultValue>200</DefaultValue>
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                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
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                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
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                  <SubItem>
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                  <SubItem>
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                    <Info />
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                <Index>#x3020</Index>
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                <Type>DT3020</Type>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
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                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
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                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
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                  <SubItem>
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                    <Info />
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                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
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                </Info>
              </Object>
              <Object>
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                  <SubItem>
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                      <DefaultValue>9</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>1500000</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
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                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
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                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
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                    </Info>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>500000</DefaultValue>
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                  <SubItem>
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                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
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                      <DefaultValue>600</DefaultValue>
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              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
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                <Info>
                  <SubItem>
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                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
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                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
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                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
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                      <DefaultValue>1000</DefaultValue>
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              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
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                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
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                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
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              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
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                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
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                <Flags>
                  <Access>ro</Access>
                </Flags>
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                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
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                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
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                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
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                  <SubItem>
                    <Name>STO card status</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO internal device state</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
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                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
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                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
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                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
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                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
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                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
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                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
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              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
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              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
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                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
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              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
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                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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            </Objects>
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        <DcOpModeName>DC</DcOpModeName>
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      <Module>
        <Type ModuleIdent="#x6A00001C">CST Mode</Type>
        <Name>Cyclic Synchronous Torque Mode</Name>
        <RxPdo Fixed="false" Mandatory="false" Sm="2">
          <Index>#x1600</Index>
          <Name>CST Outputs</Name>
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            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
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            <Name>Controlword</Name>
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          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6060</Index>
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          <Entry>
            <Index>#x60FE</Index>
            <SubIndex>1</SubIndex>
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            <DataType>UDINT</DataType>
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        </RxPdo>
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          <Index>#x1A00</Index>
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            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Statusword</Name>
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          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
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            <Name>Position actual value</Name>
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          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
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          <Entry>
            <Index>#x6077</Index>
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          <Entry>
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          <Entry>
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            <InitCmd>
              <Transition>PS</Transition>
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              <SubIndex>0</SubIndex>
              <Data>0A</Data>
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              <DataType>
                <Name>STRING(5)</Name>
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              <DataType>
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              <DataType>
                <Name>UINT</Name>
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              <DataType>
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              <DataType>
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                <ArrayInfo>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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              <DataType>
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                <BaseType>BYTE</BaseType>
                <BitSize>2304</BitSize>
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              <DataType>
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                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Newest acknowledged message</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>New messages available</Name>
                  <Type>BOOL</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
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                <SubItem>
                  <SubIdx>5</SubIdx>
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                  <Flags>
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                    <Backup>1</Backup>
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                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Diagnosis message 1</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Diagnosis message 2</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Diagnosis message 3</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Diagnosis message 4</Name>
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                  <BitSize>128</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Diagnosis message 5</Name>
                  <Type>ARRAY [0..15] OF BYTE</Type>
                  <BitSize>128</BitSize>
                  <BitOffs>576</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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              <DataType>
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                <SubItem>
                  <SubIdx>0</SubIdx>
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                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                <SubItem>
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                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>192</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>184</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum cycle time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and copy time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-event missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle time too small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3001</Name>
                <BitSize>136</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Nominal current</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Output current limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Number of pole pairs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Thermal time constant winding</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>88</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Torque constant</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>104</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3010</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 1 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 1 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 1 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3011</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog incremental encoder type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog incremental encoder resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Analog incremental encoder index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3012</Name>
                <BitSize>336</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SSI data rate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SSI number of data bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SSI encoding type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SSI timeout time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SSI special bits trailing data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SSI refresh frequency</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SSI power up time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SSI position raw value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SSI commutation offset value</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SSI position bits</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SSI special bits leading data</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>SSI position raw value complete</Name>
                  <Type>ULINT</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3020</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital incremental encoder 2 number of pulses</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital incremental encoder 2 type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Digital incremental encoder 2 index position</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A0</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A1</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position controller D gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Position controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Position controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SI unit position controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A2</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity controller P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity controller I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity controller FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity controller FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity controller filter cut-off frequency</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A3</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Velocity observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Velocity observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30A4</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Internal velocity filter bandwidth correction factor</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30AE</Name>
                <BitSize>560</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Main loop P gain low bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Main loop P gain high bandwidth</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Main loop gain scheduling weight</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>Main loop filter coefficient a</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>Main loop filter coefficient b</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>Main loop filter coefficient c</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>19</SubIdx>
                  <Name>Main loop filter coefficient d</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>Main loop filter coefficient e</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Auxiliary loop P gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>Auxiliary loop I gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>Auxiliary loop FF velocity gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>Auxiliary loop FF acceleration gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>48</SubIdx>
                  <Name>Auxiliary loop observer position correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>49</SubIdx>
                  <Name>Auxiliary loop observer velocity correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>50</SubIdx>
                  <Name>Auxiliary loop observer load correction gain</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>Auxiliary loop observer friction</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>Auxiliary loop observer inertia</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>512</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>64</SubIdx>
                  <Name>Dual loop configuration miscellaneous</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>544</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D1</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Current actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Current actual value</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Torque actual value averaged</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT30D3</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value averaged</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3141</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital inputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital inputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3150</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Digital outputs logic state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Digital outputs polarity</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3160</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3162</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog input general purpose A</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog input general purpose B</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3180</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output 1 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output 2 voltage</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3182</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Analog output general purpose A</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Analog output general purpose B</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3200</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>I2t level motor</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>I2t level power stage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3202</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>STO input states</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>STO card status</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>STO internal device state</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT3203</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>PWM duty cycle actual value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position range limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed for switch search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed for zero search</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period value</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                    <Backup>1</Backup>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E4</Name>
                <BitSize>112</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Position actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Position actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60E5</Name>
                <BitSize>208</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Velocity actual value sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Velocity actual value sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Velocity actual value sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Velocity actual value averaged sensor 1</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Velocity actual value averaged sensor 2</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>Velocity actual value averaged sensor 3</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <PdoMapping>T</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Highest sub-index supported</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>r</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x10F3</Index>
                <Name>Diagnosis History</Name>
                <Type>DT10F3</Type>
                <BitSize>704</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Maximum messages</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest message</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Newest acknowledged message</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>New messages available</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Flags</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 4</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Diagnosis message 5</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SYNC manager 2 parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>216</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Delay time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SYNC manager 3 parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>184</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>32</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization type</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization types supported</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Minimum cycle time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Calc and copy time</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SM-event missed</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Cycle time too small</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Sync error</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3001</Index>
                <Name>Motor data</Name>
                <Type>DT3001</Type>
                <BitSize>136</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Nominal current</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Output current limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>40000</MaxValue>
                      <DefaultValue>40000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Number of pole pairs</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>255</MaxValue>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Thermal time constant winding</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>40</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque constant</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3010</Index>
                <Name>Digital incremental encoder 1</Name>
                <Type>DT3010</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 1 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3011</Index>
                <Name>Analog incremental encoder</Name>
                <Type>DT3011</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder resolution</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>#x00080004</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog incremental encoder index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3012</Index>
                <Name>SSI absolute encoder</Name>
                <Type>DT3012</Type>
                <BitSize>336</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>13</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI data rate</Name>
                    <Info>
                      <MinValue>400</MinValue>
                      <MaxValue>2000</MaxValue>
                      <DefaultValue>2000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI number of data bits</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>16</MaxValue>
                      <DefaultValue>#x00000C00</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI encoding type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI timeout time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>50</MaxValue>
                      <DefaultValue>30</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits trailing data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI refresh frequency</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI power up time</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>200</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI commutation offset value</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI position bits</Name>
                    <Info>
                      <MinValue>6</MinValue>
                      <MaxValue>31</MaxValue>
                      <DefaultValue>#x0000000C</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SSI special bits leading data</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>SSI position raw value complete</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3020</Index>
                <Name>Digital incremental encoder 2</Name>
                <Type>DT3020</Type>
                <BitSize>96</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>4</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 number of pulses</Name>
                    <Info>
                      <MinValue>16</MinValue>
                      <MaxValue>2500000</MaxValue>
                      <DefaultValue>500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 type</Name>
                    <Info>
                      <DefaultValue>#x0001</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital incremental encoder 2 index position</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A0</Index>
                <Name>Current control parameter set</Name>
                <Type>DT30A0</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current controller P gain</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current controller I gain</Name>
                    <Info />
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A1</Index>
                <Name>Position control parameter set</Name>
                <Type>DT30A1</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>9</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller P gain</Name>
                    <Info>
                      <DefaultValue>1500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller I gain</Name>
                    <Info>
                      <DefaultValue>780000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller D gain</Name>
                    <Info>
                      <DefaultValue>16000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SI unit position controller I gain</Name>
                    <Info>
                      <DefaultValue>#xFA040300</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A2</Index>
                <Name>Velocity control parameter set</Name>
                <Type>DT30A2</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity controller filter cut-off frequency</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>600</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A3</Index>
                <Name>Velocity observer parameter set</Name>
                <Type>DT30A3</Type>
                <BitSize>176</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>5</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30A4</Index>
                <Name>Internal Velocity filter parameter set</Name>
                <Type>DT30A4</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Internal velocity filter bandwidth correction factor</Name>
                    <Info>
                      <MinValue>1</MinValue>
                      <MaxValue>10000</MaxValue>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30AE</Index>
                <Name>Dual loop position control parameter set</Name>
                <Type>DT30AE</Type>
                <BitSize>560</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>64</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain low bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>10000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop P gain high bandwidth</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop gain scheduling weight</Name>
                    <Info>
                      <MinValue>5000</MinValue>
                      <MaxValue>20000</MaxValue>
                      <DefaultValue>12500</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient a</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient b</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient c</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient d</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Main loop filter coefficient e</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000000000</MaxValue>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop P gain</Name>
                    <Info>
                      <DefaultValue>20000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop I gain</Name>
                    <Info>
                      <DefaultValue>500000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF velocity gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop FF acceleration gain</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer position correction gain</Name>
                    <Info>
                      <DefaultValue>400</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer velocity correction gain</Name>
                    <Info>
                      <DefaultValue>100000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer load correction gain</Name>
                    <Info>
                      <DefaultValue>33</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer friction</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Auxiliary loop observer inertia</Name>
                    <Info>
                      <DefaultValue>1000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Dual loop configuration miscellaneous</Name>
                    <Info>
                      <MinValue>#x0000</MinValue>
                      <MaxValue>#x0003</MaxValue>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x30B0</Index>
                <Name>Home position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30B2</Index>
                <Name>Current threshold for homing mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D0</Index>
                <Name>Current demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D1</Index>
                <Name>Current actual values</Name>
                <Type>DT30D1</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value averaged</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Current actual value</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D2</Index>
                <Name>Torque actual values</Name>
                <Type>DT30D2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Torque actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x30D3</Index>
                <Name>Velocity actual values</Name>
                <Type>DT30D3</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3141</Index>
                <Name>Digital input properties</Name>
                <Type>DT3141</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital inputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3150</Index>
                <Name>Digital output properties</Name>
                <Type>DT3150</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs logic state</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Digital outputs polarity</Name>
                    <Info>
                      <DefaultValue>#x0000</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3160</Index>
                <Name>Analog input properties</Name>
                <Type>DT3160</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3162</Index>
                <Name>Analog input general purpose</Name>
                <Type>DT3162</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose A</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog input general purpose B</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3180</Index>
                <Name>Analog output properties</Name>
                <Type>DT3180</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 1 voltage</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Analog output 2 voltage</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3182</Index>
                <Name>Analog output general purpose</Name>
                <Type>DT3182</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose A</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Analog output general purpose B</Name>
                    <Info>
                      <MinValue>-4000</MinValue>
                      <MaxValue>4000</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x3200</Index>
                <Name>Power limitation</Name>
                <Type>DT3200</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level motor</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>I2t level power stage</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>200</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3202</Index>
                <Name>Functional safety</Name>
                <Type>DT3202</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>8</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>STO input states</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO card status</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>STO internal device state</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x3203</Index>
                <Name>Motor control</Name>
                <Type>DT3203</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>PWM duty cycle actual value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>1000</MaxValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Error code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>tr</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>#x0040</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>#x0001</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6066</Index>
                <Name>Following error time out</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607B</Index>
                <Name>Position range limit</Name>
                <Type>DT607B</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position range limit</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>0</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info />
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100000</MaxValue>
                  <DefaultValue>50000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Info>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for switch search</Name>
                    <Info>
                      <DefaultValue>100</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Speed for zero search</Name>
                    <Info>
                      <DefaultValue>10</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe 1 positive edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe 1 negative edge</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>32</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>2</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time period value</Name>
                    <Info>
                      <MinValue>0</MinValue>
                      <MaxValue>100</MaxValue>
                      <DefaultValue>0</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Interpolation time index</Name>
                    <Info>
                      <DefaultValue>-3</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>4294967295</MaxValue>
                  <DefaultValue>4294967295</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                  <Backup>1</Backup>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch probe 1 positive edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch probe 1 negative edge counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E4</Index>
                <Name>Additional position actual values</Name>
                <Type>DT60E4</Type>
                <BitSize>112</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>3</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Position actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60E5</Index>
                <Name>Additional velocity actual values</Name>
                <Type>DT60E5</Type>
                <BitSize>208</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>11</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value sensor 3</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 1</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 2</Name>
                    <Info />
                  </SubItem>
                  <SubItem>
                    <Name>Velocity actual value averaged sensor 3</Name>
                    <Info />
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x0</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>Highest sub-index supported</Name>
                    <Info>
                      <DefaultValue>1</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Physical outputs</Name>
                    <Info>
                      <DefaultValue>#x0</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>r</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultValue>#x00000000</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <DcOpModeName>DC</DcOpModeName>
      </Module>
    </Modules>
  </Descriptions>
</EtherCATInfo>